Video

0:00 / 0:00

Frame Analysis

16:48:53 1:52 observation 16:50:45
1 16:49:21
Loading...
2 16:49:49
Loading...
3 16:50:17
Loading...

Phases

Phase Detail Progress Time Elapsed
init 0% 17:48:53 0.007s
prepare 0.000002504639951439458% 17:48:53 0.011s
oiling 0.02713031694293022% 17:48:56 2.716s
spread_dough 0.107141874730587% 17:49:04 10.729s
cook 0.2656777799129486% 17:49:20 26.587s
add_topping 0.565721333026886% 17:49:50 56.575s
fold 0.7657576203346252% 17:50:10 76.587s
push_off 0.9456804990768433% 17:50:28 94.568s
wipe_spatula 1% 17:50:37 103.427s

Machine Logs

17:48:53.921 make_crepe_action Executing make_crepe action
17:48:53.922 crepe_log_node Action status update: 4, 1
17:48:53.923 make_crepe_action prepare started
17:48:53.924 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-22_17-48-53/session.json
17:48:53.927 duet1.duet_comm GCODE: G28 X Y
17:48:53.927 crepe_log_node Action status update: 4, 2
17:48:53.935 duet1.duet_comm GCODE: G92 A0
17:48:53.945 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
17:48:56.636 make_crepe_action oiling started
17:48:56.639 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
17:48:56.644 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
17:48:58.635 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
17:48:58.686 duet1.duet_comm RUN MACRO: oiling_optimized.g
17:48:59.494 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
17:49:02.353 sync_crepes Uploaded video /home/maus/crepes_made_logs/2026-03-22_17-46-54/webcam.mp4 to https://crepes-made-videos.7c7838a4bd775c4700ac0267fb10d97e.r2.cloudflarestorage.com/1171-e1f87b20.mp4?X-Amz-Expires=3600&X-Amz-Date=20260322T164901Z&X-Amz-Algorithm=AWS4-HMAC-SHA256&X-Amz-Credential=0a99014b334730c024740eae91548eeb%2F20260322%2Fauto%2Fs3%2Faws4_request&X-Amz-SignedHeaders=host&X-Amz-Signature=c7140512d9195395221a0270334d4a5f99d5c47c8b260e657f921ba189fbe4b9
17:49:03.064 make_crepe_action wait_until: timeout waiting for idle
17:49:03.068 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
17:49:03.069 duet1.duet_comm GCODE: G92 A0
17:49:04.637 make_crepe_action spread_dough started
17:49:04.641 make_crepe_action Full Duration: 8.6s; Speed: 229.2 mm/s; r_critical: 60.6mm; r_stop: 60.6mm ;duration_stop: 7.3s
17:49:04.644 duet2.duet_comm GCODE: M106 P3 S0.95
17:49:04.645 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
17:49:05.929 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
17:49:05.930 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
17:49:06.732 duet1.duet_comm RUN MACRO: dough_spread_air.g
17:49:06.734 duet2.duet_comm GCODE: T0 G1 E28.266002679537927 F232.4188376753507
17:49:06.748 duet2.duet_comm GCODE: T0 G1 E4.764411624347323 F195.97995991983967
17:49:20.493 make_crepe_action cook started
17:49:20.499 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
17:49:20.506 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
17:49:20.518 duet2.duet_comm GCODE: M106 P3 S0
17:49:50.495 make_crepe_action add_topping started
17:49:50.495 make_crepe_action No topping selected for shape, skipping
17:50:10.498 make_crepe_action fold started
17:50:10.504 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
17:50:10.518 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
17:50:20.349 make_crepe_action fold started
17:50:20.350 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
17:50:20.367 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
17:50:28.490 make_crepe_action push_off started
17:50:28.497 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
17:50:37.349 duet1.duet_comm GCODE: G91 G1 U2.5 G90
17:50:37.351 make_crepe_action wipe_spatula started
17:50:37.361 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