Video

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Frame Analysis

16:29:42 1:48 observation 16:31:30
1 16:30:09
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2 16:30:36
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3 16:31:03
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Phases

Phase Detail Progress Time Elapsed
init 0% 17:29:42 0.006s
prepare 0.000002672969912964618% 17:29:42 0.010s
oiling 0.026029467582702637% 17:29:44 2.624s
spread_dough 0.10024791210889816% 17:29:52 10.026s
cook 0.258867472410202% 17:30:07 25.888s
add_topping 0.5588878989219666% 17:30:37 55.912s
fold 0.7259653210639954% 17:30:54 72.600s
push_off 0.9159567356109619% 17:31:13 91.599s
wipe_spatula 1% 17:31:22 100.460s

Machine Logs

17:29:42.040 make_crepe_action Executing make_crepe action
17:29:42.040 crepe_log_node Action status update: 4, 1
17:29:42.042 make_crepe_action prepare started
17:29:42.043 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-22_17-29-42/session.json
17:29:42.045 crepe_log_node Action status update: 4, 2
17:29:42.062 duet1.duet_comm GCODE: G28 X Y
17:29:42.070 duet1.duet_comm GCODE: G92 A0
17:29:42.079 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
17:29:44.645 make_crepe_action oiling started
17:29:44.648 make_crepe_action Oiling - Full Duration: 2.8s; Speed: 550.0 mm/s; r_critical: 145.4mm; r_stop: 145.4mm; duration_stop: 0.7s
17:29:44.653 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
17:29:46.064 duet1.duet_comm UPLOAD MACRO: oiling_optimized.g G93 G1 A4.4 B134.5 F2359.50 G1 A9.1 B135.3 F2359.50 G1 A13.9 B136.1 F2359.50 G1 A18.7 B136.9 F2359.50 G1 A23.5 B137.7 F2359.50 G1 A28.3 B138.5 F2359.50 G1 A33.2 B139.3 F2359.50 G1 A38.1 B140.1 F2359.50 G1 A43.0 B140.9 F2359.50 G1 A47.9 B141.7 F2359.50 G1 A52.9 B142.6 F2359.50 G1 A57.9 B143.4 F2359.50 G1 A62.9 B144.2 F2359.50 G1 A67.9 B145.1 F2359.50 G1 A73.0 B145.9 F2359.50 G1 A78.1 B146.8 F2359.50 G1 A83.2 B147.6 F2359.50 G1 A88.3 B148.5 F2359.50 G1 A93.5 B149.3 F2359.50 G1 A98.7 B150.2 F2359.50 G1 A103.9 B151.1 F2359.50 G1 A109.2 B151.9 F2359.50 G1 A114.5 B152.8 F2359.50 G1 A119.8 B153.7 F2359.50 G1 A125.2 B154.6 F2359.50 G1 A130.6 B155.5 F2359.50 G1 A136.0 B156.4 F2359.50 G1 A141.5 B157.3 F2359.50 G1 A146.9 B158.2 F2359.50 G1 A152.5 B159.1 F2359.50 G94 G1 A879.6 B280.3 F13000.0 G1 A1048.8 F13000.0
17:29:46.114 duet1.duet_comm RUN MACRO: oiling_optimized.g
17:29:46.922 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
17:29:50.493 make_crepe_action wait_until: timeout waiting for idle
17:29:50.497 duet1.duet_comm GCODE: G92 A0
17:29:50.502 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
17:29:52.066 make_crepe_action spread_dough started
17:29:52.069 make_crepe_action Full Duration: 8.6s; Speed: 229.2 mm/s; r_critical: 60.6mm; r_stop: 60.6mm ;duration_stop: 7.3s
17:29:52.072 duet2.duet_comm GCODE: M106 P3 S0.95
17:29:52.078 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
17:29:53.353 duet1.duet_comm UPLOAD MACRO: dough_spread_air.g G93 G1 A1.0 B204.5 F238.45 G1 A22.0 B197.5 F238.45 G1 A43.3 B190.4 F238.45 G1 A65.0 B183.4 F238.45 G1 A87.0 B176.3 F238.45 G1 A109.5 B176.6 F238.45 G1 A132.3 B179.1 F238.45 G1 A155.6 B181.7 F238.45 G1 A179.3 B184.3 F238.45 G1 A203.5 B187.0 F238.45 G1 A228.1 B189.8 F238.45 G1 A253.3 B192.6 F238.45 G1 A279.0 B195.4 F238.45 G1 A305.3 B198.3 F238.45 G1 A332.3 B201.3 F238.45 G1 A359.9 B204.4 F238.45 G1 A388.3 B207.6 F238.45 G1 A417.5 B210.8 F238.45 G1 A447.5 B214.1 F238.45 G1 A478.5 B217.6 F238.45 G1 A510.6 B221.1 F238.45 G1 A543.8 B224.8 F238.45 G1 A578.4 B228.6 F238.45 G1 A614.4 B232.6 F238.45 G1 A652.1 B236.8 F238.45 G1 A691.7 B241.2 F238.45 G1 A733.7 B245.9 F238.45 G1 A778.3 B250.8 F238.45 G1 A826.3 B256.1 F238.45 G1 A878.5 B261.9 F238.45 G94 G1 A1512.0 B322.5 F13000.0 G1 A1872.0 F13000.0 G1 X0 Y0 Z0 B10 C5 F20000 G92 A0
17:29:53.353 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
17:29:54.155 duet1.duet_comm RUN MACRO: dough_spread_air.g
17:29:54.156 duet2.duet_comm GCODE: T0 G1 E28.266002679537927 F232.4188376753507
17:29:54.168 duet2.duet_comm GCODE: T0 G1 E4.764411624347323 F195.97995991983967
17:30:02.672 sync_crepes Uploaded video /home/maus/crepes_made_logs/2026-03-22_17-27-47/webcam.mp4 to https://crepes-made-videos.7c7838a4bd775c4700ac0267fb10d97e.r2.cloudflarestorage.com/1162-a317e752.mp4?X-Amz-Expires=3600&X-Amz-Date=20260322T163001Z&X-Amz-Algorithm=AWS4-HMAC-SHA256&X-Amz-Credential=0a99014b334730c024740eae91548eeb%2F20260322%2Fauto%2Fs3%2Faws4_request&X-Amz-SignedHeaders=host&X-Amz-Signature=f9c8c97a5dfae46f10db5feb653d0d2dd3fd31d8ddb3752aac8d6a31e30de702
17:30:07.928 make_crepe_action cook started
17:30:07.928 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
17:30:07.935 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
17:30:07.940 duet2.duet_comm GCODE: M106 P3 S0
17:30:37.930 make_crepe_action add_topping started
17:30:37.936 make_crepe_action Topping: blueberry, Port: 3, Density: 0.016, Flowrate: 1.1, DM: 285.0, Offset: 2.0, Resolution: 10.0, T_per_mm: 0.014545454545454545
17:30:37.945 duet1.duet_comm UPLOAD MACRO: eth-logo_E.g G93 G1 A-22 B204 F412.50 G1 A-28 B199 F412.50 G1 A-34 B194 F412.50 G1 A-39 B187 F412.50 G1 A-44 B181 F412.50 G1 A-48 B189 F412.50 G1 A-53 B195 F412.50 G1 A-58 B201 F412.50 G1 A-54 B210 F412.50 G1 A-48 B218 F412.50 G1 A-50 B216 F412.50 G1 A-55 B207 F412.50 G1 A-60 B202 F412.50 G1 A-66 B206 F412.50 G1 A-74 B210 F412.50 G1 A-82 B212 F412.50 G1 A-81 B221 F412.50 G1 A-79 B232 F412.50 G1 A-77 B242 F412.50 G1 A-73 B253 F412.50 G94
17:30:37.991 duet1.duet_comm UPLOAD MACRO: eth-logo_T.g G93 G1 A-15 B207 F412.50 G1 A-8 B209 F412.50 G1 A0 B210 F412.50 G1 A8 B210 F412.50 G1 A16 B208 F412.50 G1 A13 B209 F412.50 G1 A5 B210 F412.50 G1 A2 B216 F412.50 G1 A2 B226 F412.50 G1 A2 B236 F412.50 G1 A3 B246 F412.50 G1 A4 B257 F412.50 G1 A6 B267 F412.50 G1 A14 B277 F412.50 G94
17:30:38.036 make_crepe_action Uploaded 3 path macros. Starting execution.: [{'name': 'eth-logo_E.g', 'length': 199.916, 'start_coord': {'d': 204.006, 'rot': -21.543}, 'g_code': 'G93\nG1 A-22 B204 F412.50\nG1 A-28 B199 F412.50\nG1 A-34 B194 F412.50\nG1 A-39 B187 F412.50\nG1 A-44 B181 F412.50\nG1 A-48 B189 F412.50\nG1 A-53 B195 F412.50\nG1 A-58 B201 F412.50\nG1 A-54 B210 F412.50\nG1 A-48 B218 F412.50\nG1 A-50 B216 F412.50\nG1 A-55 B207 F412.50\nG1 A-60 B202 F412.50\nG1 A-66 B206 F412.50\nG1 A-74 B210 F412.50\nG1 A-82 B212 F412.50\nG1 A-81 B221 F412.50\nG1 A-79 B232 F412.50\nG1 A-77 B242 F412.50\nG1 A-73 B253 F412.50\nG94'}, {'name': 'eth-logo_T.g', 'length': 133.034, 'start_coord': {'d': 207.204, 'rot': -15.069}, 'g_code': 'G93\nG1 A-15 B207 F412.50\nG1 A-8 B209 F412.50\nG1 A0 B210 F412.50\nG1 A8 B210 F412.50\nG1 A16 B208 F412.50\nG1 A13 B209 F412.50\nG1 A5 B210 F412.50\nG1 A2 B216 F412.50\nG1 A2 B226 F412.50\nG1 A2 B236 F412.50\nG1 A3 B246 F412.50\nG1 A4 B257 F412.50\nG1 A6 B267 F412.50\nG1 A14 B277 F412.50\nG94'}, {'name': 'eth-logo_H.g', 'length': 240.948, 'start_coord': {'d': 202.172, 'rot': 27.177}, 'g_code': 'G93\nG1 A27 B202 F412.50\nG1 A31 B211 F412.50\nG1 A35 B220 F412.50\nG1 A41 B228 F412.50\nG1 A49 B235 F412.50\nG1 A59 B242 F412.50\nG1 A71 B246 F412.50\nG1 A75 B247 F412.50\nG1 A61 B243 F412.50\nG1 A51 B237 F412.50\nG1 A46 B230 F412.50\nG1 A52 B222 F412.50\nG1 A57 B214 F412.50\nG1 A61 B206 F412.50\nG1 A64 B197 F412.50\nG1 A70 B198 F412.50\nG1 A76 B202 F412.50\nG1 A83 B204 F412.50\nG1 A81 B203 F412.50\nG1 A74 B201 F412.50\nG1 A68 B197 F412.50\nG1 A62 B193 F412.50\nG1 A57 B188 F412.50\nG1 A52 B182 F412.50\nG1 A48 B175 F412.50\nG94'}]
17:30:38.038 duet1.duet_comm UPLOAD MACRO: eth-logo_H.g G93 G1 A27 B202 F412.50 G1 A31 B211 F412.50 G1 A35 B220 F412.50 G1 A41 B228 F412.50 G1 A49 B235 F412.50 G1 A59 B242 F412.50 G1 A71 B246 F412.50 G1 A75 B247 F412.50 G1 A61 B243 F412.50 G1 A51 B237 F412.50 G1 A46 B230 F412.50 G1 A52 B222 F412.50 G1 A57 B214 F412.50 G1 A61 B206 F412.50 G1 A64 B197 F412.50 G1 A70 B198 F412.50 G1 A76 B202 F412.50 G1 A83 B204 F412.50 G1 A81 B203 F412.50 G1 A74 B201 F412.50 G1 A68 B197 F412.50 G1 A62 B193 F412.50 G1 A57 B188 F412.50 G1 A52 B182 F412.50 G1 A48 B175 F412.50 G94
17:30:38.107 duet1.duet_comm GCODE: G1 A-22 B204 F6000
17:30:40.209 duet2.duet_comm GCODE: T3 G1 E1.4003740814963264 F105.02805611222446
17:30:41.510 duet2.duet_comm GCODE: T3 G1 E4.1861077383858625 F86.374749498998
17:30:41.515 duet1.duet_comm RUN MACRO: eth-logo_E.g
17:30:45.361 duet1.duet_comm GCODE: G1 A-15 B207 F6000
17:30:46.495 duet2.duet_comm GCODE: T3 G1 E2.7856432545090177 F86.374749498998
17:30:46.501 duet1.duet_comm RUN MACRO: eth-logo_T.g
17:30:49.070 duet1.duet_comm GCODE: G1 A27 B202 F6000
17:30:50.495 duet2.duet_comm GCODE: T3 G1 E5.0452904587356535 F86.374749498998
17:30:50.497 duet1.duet_comm RUN MACRO: eth-logo_H.g
17:30:54.637 duet1.duet_comm GCODE: G1 B10 F6000
17:30:54.638 duet2.duet_comm GCODE: T3 G1 E-0.58249832999332 F43.687374749499
17:30:54.640 make_crepe_action fold started
17:30:54.651 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
17:30:54.665 duet1.duet_comm GCODE: G94 G92 A0 G1 F20000 G1 X0 Y0 Z0 B10 C5 F20000 G1 X-115.0 Y-14.0 Z-23.2 F20000 G1 Y-50 Z-24.825 A8 F3500 G1 X-140 Y-47 Z-8 F15000 G1 X-210 Y-53 Z20 F15000 G1 X-720 Y-83 Z50 F15000 A0 G92 X0 G28 Y G1 X0 Y0 Z0 B10 C5 F20000
17:31:05.489 make_crepe_action fold started
17:31:05.495 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
17:31:05.507 duet1.duet_comm GCODE: G94 G92 A0 G1 F20000 G1 X0 Y0 Z0 B10 C5 F20000 G1 X-115.0 Y-14.0 Z-23.2 F20000 G1 Y-50 Z-24.825 A8 F3500 G1 X-140 Y-47 Z-8 F15000 G1 X-210 Y-53 Z20 F15000 G1 X-720 Y-83 Z50 F15000 A0 G92 X0 G28 Y G1 X0 Y0 Z0 B10 C5 F20000
17:31:13.639 make_crepe_action push_off started
17:31:13.649 duet1.duet_comm GCODE: G94 G92 A0 G1 F20000 G1 X0 Y0 Z0 B10 C5 F20000 G1 X-115.0 Y-14.0 Z-23.2 A90 F20000 G1 Z-22.825 Y-50 F3000 G1 Z-4.824999999999999 Y-53 F4000 G1 Z35.175 Y-112.0 F4000 G1 X-720 F20000 G92 X0 G28 Y G1 X0 Y0 Z0 B10 C5 F20000
17:31:22.499 duet1.duet_comm GCODE: G91 G1 U2.5 G90
17:31:22.502 make_crepe_action wipe_spatula started
17:31:22.516 duet1.duet_comm GCODE: G1 X0 Y0 Z0 C340 F20000 G1 Z-41 G1 C5 G1 Z0 G1 X180 C340 G1 Z-41 G1 C5 G1 X0 Y0 Z0 B10 C5 F20000

Comments

Parameters

dispense.dough

cook_time 30
density 0.0012
dm 322.5
extra_time 70
flowrate 11
gap 40
max_g_per_rot 3
offset 2
port 0
r_min 2
r0 158
rpm_max 320
spin_out 360
steps 30
tau 686

dispense.oiling

density 0.000002
dm 304
flowrate 0.066
gap 60
offset 13
r_min 27
r0 170
steps 30
valve_closed 70
valve_open 0.1

dispense.toppings

available ["plain","apple","blueberry"]
svg_design_center [200,200]
svg_file_path /home/maus/ros2_ws/src/recipe_runner/recipe_runner/svg_designs/eth-logo.svg
svg_resolution 10

dispense.toppings.apple

density 0.03
description Feines Apfelmus, süß und fruchtig – der Klassiker.
display_name Apfelmus
dm 297.5
flowrate 1.3
max_g_per_rot 0.88
name apple
port 2
price 7
rpm_max 180
tau 175.5

dispense.toppings.blueberry

density 0.016
description Fruchtige Blaubeeren - ein absoluter Must-Have.
display_name Blaubeeren
dm 285
flowrate 1.1
max_g_per_rot 0.88
name blueberry
port 3
price 7
rpm_max 180
tau 175.5

dispense.toppings.chocolate

density 0.023
description Warme, zartschmelzende Schokolade. Einfach unwiderstehlich!
display_name Schokolade
dm 310
flowrate 0.9
max_g_per_rot 0.88
name chocolate
port 1
price 7
rpm_max 180
tau 175.5

dispense.toppings.plain

description Ohne irgendwas - nur der crêpe.
display_name Natur
name plain
price 6

general

estimated_time_to_finish 90
start_type_description_service true
use_sim_time false

machine

a_max_deg_per_min 13000
pos_idle G1 X0 Y0 Z0 B10 C5 F20000
x_scrape -115
x_spread 23
y_center -53
y_end -90
y_start -14
z_offsets_every30deg [-2.2,-2.4,-2.5,-2.85,-3.2,-3,-2.85,-2.7,-2.6,-2.8,-2.65,-2.5]
z_scrape_start -23.2
z_spread_end -12.3
z_spread_start -13.6
z_thread_pitch 15