Video

0:00 / 0:00

Frame Analysis

14:52:01 1:55 observation 14:53:56
1 14:52:29
Loading...
2 14:52:58
Loading...
3 14:53:27
Loading...

Phases

Phase Detail Progress Time Elapsed
init 0% 15:52:01 0.006s
prepare 0.000002701679932215484% 15:52:01 0.011s
oiling 0.026481077075004578% 15:52:03 2.651s
spread_dough 0.10639975219964981% 15:52:11 10.652s
cook 0.2535708248615265% 15:52:26 25.365s
add_topping 0.5536519885063171% 15:52:56 55.392s
fold 0.780471682548523% 15:53:19 78.076s
push_off 0.986454963684082% 15:53:39 98.646s
wipe_spatula 1% 15:53:48 107.502s

Machine Logs

15:52:01.237 make_crepe_action Executing make_crepe action
15:52:01.237 crepe_log_node Action status update: 4, 1
15:52:01.239 make_crepe_action prepare started
15:52:01.241 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-20_15-52-01/session.json
15:52:01.243 crepe_log_node Action status update: 4, 2
15:52:01.244 duet1.duet_comm GCODE: G28 X Y
15:52:01.252 duet1.duet_comm GCODE: G92 A0
15:52:01.260 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
15:52:03.887 make_crepe_action oiling started
15:52:03.892 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
15:52:03.900 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
15:52:05.887 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
15:52:05.933 duet1.duet_comm RUN MACRO: oiling_optimized.g
15:52:06.735 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
15:52:10.326 make_crepe_action wait_until: timeout waiting for idle
15:52:10.342 duet1.duet_comm GCODE: G92 A0
15:52:10.344 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
15:52:11.878 make_crepe_action spread_dough started
15:52:11.882 make_crepe_action Full Duration: 7.1s; Speed: 275.0 mm/s; r_critical: 72.7mm; r_stop: 72.7mm ;duration_stop: 5.6s
15:52:11.885 duet2.duet_comm GCODE: M106 P3 S0.95
15:52:11.887 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
15:52:13.165 duet1.duet_comm UPLOAD MACRO: dough_spread_air.g G93 G1 A1.0 B204.5 F309.65 G1 A20.4 B199.1 F309.65 G1 A40.1 B193.7 F309.65 G1 A60.1 B188.2 F309.65 G1 A80.3 B182.8 F309.65 G1 A100.9 B177.4 F309.65 G1 A121.9 B178.0 F309.65 G1 A143.2 B180.3 F309.65 G1 A164.9 B182.7 F309.65 G1 A186.9 B185.2 F309.65 G1 A209.4 B187.7 F309.65 G1 A232.2 B190.2 F309.65 G1 A255.6 B192.8 F309.65 G1 A279.4 B195.5 F309.65 G1 A303.7 B198.2 F309.65 G1 A328.5 B200.9 F309.65 G1 A354.0 B203.7 F309.65 G1 A380.0 B206.6 F309.65 G1 A406.7 B209.6 F309.65 G1 A434.1 B212.6 F309.65 G1 A462.4 B215.8 F309.65 G1 A491.4 B219.0 F309.65 G1 A521.4 B222.3 F309.65 G1 A552.5 B225.8 F309.65 G1 A584.7 B229.4 F309.65 G1 A618.2 B233.1 F309.65 G1 A653.1 B236.9 F309.65 G1 A689.7 B241.0 F309.65 G1 A728.3 B245.3 F309.65 G1 A769.1 B249.8 F309.65 G94 G1 A1512.0 B322.5 F13000.0 G1 A1872.0 F13000.0 G1 X0 Y0 Z0 B10 C5 F20000 G92 A0
15:52:13.165 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
15:52:13.970 duet1.duet_comm RUN MACRO: dough_spread_air.g
15:52:13.971 duet2.duet_comm GCODE: T0 G1 E21.767305299678092 F232.4188376753507
15:52:13.999 duet2.duet_comm GCODE: T0 G1 E5.7324277759647595 F201.0941883767535
15:52:24.952 sync_crepes Uploaded video /home/maus/crepes_made_logs/2026-03-20_15-50-01/webcam.mp4 to https://crepes-made-videos.7c7838a4bd775c4700ac0267fb10d97e.r2.cloudflarestorage.com/897-fcb731b9.mp4?X-Amz-Expires=3600&X-Amz-Date=20260320T145224Z&X-Amz-Algorithm=AWS4-HMAC-SHA256&X-Amz-Credential=0a99014b334730c024740eae91548eeb%2F20260320%2Fauto%2Fs3%2Faws4_request&X-Amz-SignedHeaders=host&X-Amz-Signature=047530835d988bee01f89b30e91b57a8ed1b0a1694b9300fda394b34c5e90598
15:52:26.599 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
15:52:26.596 make_crepe_action cook started
15:52:26.598 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
15:52:26.615 duet2.duet_comm GCODE: M106 P3 S0
15:52:56.604 make_crepe_action add_topping started
15:52:56.604 make_crepe_action Topping: chocolate, Port: 1, Density: 0.023, Flowrate: 0.9, DM: 310.0, Offset: 2.0, Resolution: 10.0, T_per_mm: 0.025555555555555554
15:52:56.608 duet1.duet_comm UPLOAD MACRO: eth-logo_E.g G93 G1 A22 B229 F234.78 G1 A28 B224 F234.78 G1 A34 B219 F234.78 G1 A39 B212 F234.78 G1 A44 B206 F234.78 G1 A48 B214 F234.78 G1 A53 B220 F234.78 G1 A58 B226 F234.78 G1 A54 B235 F234.78 G1 A48 B243 F234.78 G1 A50 B241 F234.78 G1 A55 B232 F234.78 G1 A60 B227 F234.78 G1 A66 B231 F234.78 G1 A74 B235 F234.78 G1 A82 B237 F234.78 G1 A81 B246 F234.78 G1 A79 B257 F234.78 G1 A77 B267 F234.78 G1 A73 B278 F234.78 G94
15:52:56.653 duet1.duet_comm UPLOAD MACRO: eth-logo_T.g G93 G1 A15 B232 F234.78 G1 A8 B234 F234.78 G1 A-0 B235 F234.78 G1 A-8 B235 F234.78 G1 A-16 B233 F234.78 G1 A-13 B234 F234.78 G1 A-5 B235 F234.78 G1 A-2 B241 F234.78 G1 A-2 B251 F234.78 G1 A-2 B261 F234.78 G1 A-3 B271 F234.78 G1 A-4 B282 F234.78 G1 A-6 B292 F234.78 G1 A-14 B302 F234.78 G94
15:52:56.698 duet1.duet_comm UPLOAD MACRO: eth-logo_H.g G93 G1 A-27 B227 F234.78 G1 A-31 B236 F234.78 G1 A-35 B245 F234.78 G1 A-41 B253 F234.78 G1 A-49 B260 F234.78 G1 A-59 B267 F234.78 G1 A-71 B271 F234.78 G1 A-75 B272 F234.78 G1 A-61 B268 F234.78 G1 A-51 B262 F234.78 G1 A-46 B255 F234.78 G1 A-52 B247 F234.78 G1 A-57 B239 F234.78 G1 A-61 B231 F234.78 G1 A-64 B222 F234.78 G1 A-70 B223 F234.78 G1 A-76 B227 F234.78 G1 A-83 B229 F234.78 G1 A-81 B228 F234.78 G1 A-74 B226 F234.78 G1 A-68 B222 F234.78 G1 A-62 B218 F234.78 G1 A-57 B213 F234.78 G1 A-52 B207 F234.78 G1 A-48 B200 F234.78 G94
15:52:56.745 make_crepe_action Uploaded 3 path macros. Starting execution.: [{'name': 'eth-logo_E.g', 'length': 199.916, 'start_coord': {'d': 229.006, 'rot': 21.543}, 'g_code': 'G93\nG1 A22 B229 F234.78\nG1 A28 B224 F234.78\nG1 A34 B219 F234.78\nG1 A39 B212 F234.78\nG1 A44 B206 F234.78\nG1 A48 B214 F234.78\nG1 A53 B220 F234.78\nG1 A58 B226 F234.78\nG1 A54 B235 F234.78\nG1 A48 B243 F234.78\nG1 A50 B241 F234.78\nG1 A55 B232 F234.78\nG1 A60 B227 F234.78\nG1 A66 B231 F234.78\nG1 A74 B235 F234.78\nG1 A82 B237 F234.78\nG1 A81 B246 F234.78\nG1 A79 B257 F234.78\nG1 A77 B267 F234.78\nG1 A73 B278 F234.78\nG94'}, {'name': 'eth-logo_T.g', 'length': 133.034, 'start_coord': {'d': 232.204, 'rot': 15.069}, 'g_code': 'G93\nG1 A15 B232 F234.78\nG1 A8 B234 F234.78\nG1 A-0 B235 F234.78\nG1 A-8 B235 F234.78\nG1 A-16 B233 F234.78\nG1 A-13 B234 F234.78\nG1 A-5 B235 F234.78\nG1 A-2 B241 F234.78\nG1 A-2 B251 F234.78\nG1 A-2 B261 F234.78\nG1 A-3 B271 F234.78\nG1 A-4 B282 F234.78\nG1 A-6 B292 F234.78\nG1 A-14 B302 F234.78\nG94'}, {'name': 'eth-logo_H.g', 'length': 240.948, 'start_coord': {'d': 227.172, 'rot': -27.177}, 'g_code': 'G93\nG1 A-27 B227 F234.78\nG1 A-31 B236 F234.78\nG1 A-35 B245 F234.78\nG1 A-41 B253 F234.78\nG1 A-49 B260 F234.78\nG1 A-59 B267 F234.78\nG1 A-71 B271 F234.78\nG1 A-75 B272 F234.78\nG1 A-61 B268 F234.78\nG1 A-51 B262 F234.78\nG1 A-46 B255 F234.78\nG1 A-52 B247 F234.78\nG1 A-57 B239 F234.78\nG1 A-61 B231 F234.78\nG1 A-64 B222 F234.78\nG1 A-70 B223 F234.78\nG1 A-76 B227 F234.78\nG1 A-83 B229 F234.78\nG1 A-81 B228 F234.78\nG1 A-74 B226 F234.78\nG1 A-68 B222 F234.78\nG1 A-62 B218 F234.78\nG1 A-57 B213 F234.78\nG1 A-52 B207 F234.78\nG1 A-48 B200 F234.78\nG94'}]
15:52:56.759 duet1.duet_comm GCODE: G1 A22 B229 F6000
15:52:59.160 duet2.duet_comm GCODE: T1 G1 E1.4003740814963264 F105.02805611222446
15:53:00.464 duet2.duet_comm GCODE: T1 G1 E5.64426242247458 F66.2865731462926
15:53:00.468 duet1.duet_comm RUN MACRO: eth-logo_E.g
15:53:05.738 duet1.duet_comm GCODE: G1 A15 B232 F6000
15:53:06.883 duet2.duet_comm GCODE: T1 G1 E3.7559715436057304 F66.2865731462926
15:53:06.885 duet1.duet_comm RUN MACRO: eth-logo_T.g
15:53:11.161 duet1.duet_comm GCODE: G1 A-27 B227 F6000
15:53:12.596 duet2.duet_comm GCODE: T1 G1 E6.802725855711425 F66.2865731462926
15:53:12.599 duet1.duet_comm RUN MACRO: eth-logo_H.g
15:53:19.286 duet1.duet_comm GCODE: G1 B10 F6000
15:53:19.285 make_crepe_action fold started
15:53:19.300 duet2.duet_comm GCODE: T1 G1 E-0.58249832999332 F43.687374749499
15:53:19.325 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
15:53:19.338 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
15:53:31.736 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
15:53:31.737 make_crepe_action fold started
15:53:31.748 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
15:53:39.884 make_crepe_action push_off started
15:53:39.889 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
15:53:48.739 make_crepe_action wipe_spatula started
15:53:48.740 duet1.duet_comm GCODE: G91 G1 U2.5 G90
15:53:48.753 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 0.001
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","chocolate"]
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.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