Video

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Frame Analysis

15:13:04 1:54 observation 15:14:58
1 15:13:32
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2 15:14:01
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3 15:14:29
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Phases

Phase Detail Progress Time Elapsed
init 0% 16:13:04 0.009s
prepare 0.0000026150300982408226% 16:13:04 0.186s
oiling 0.026765519753098488% 16:13:07 2.687s
spread_dough 0.10673725605010986% 16:13:15 10.698s
cook 0.25251123309135437% 16:13:29 25.261s
add_topping 0.5525793433189392% 16:13:59 55.261s
fold 0.7693780660629272% 16:14:21 76.969s
push_off 0.9738661646842957% 16:14:41 97.388s
wipe_spatula 1% 16:14:50 106.250s

Machine Logs

16:13:04.346 make_crepe_action Executing make_crepe action
16:13:04.346 crepe_log_node Action status update: 1
16:13:04.348 make_crepe_action prepare started
16:13:04.349 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-20_16-13-04/session.json
16:13:04.352 duet1.duet_comm GCODE: G28 X Y
16:13:04.355 crepe_log_node Action status update: 2
16:13:04.361 duet1.duet_comm GCODE: G92 A0
16:13:04.368 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
16:13:07.024 make_crepe_action oiling started
16:13:07.025 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
16:13:07.032 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
16:13:09.024 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
16:13:09.077 duet1.duet_comm RUN MACRO: oiling_optimized.g
16:13:09.877 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
16:13:13.449 make_crepe_action wait_until: timeout waiting for idle
16:13:13.452 duet1.duet_comm GCODE: G92 A0
16:13:13.453 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
16:13:15.021 make_crepe_action spread_dough started
16:13:15.025 make_crepe_action Full Duration: 7.1s; Speed: 275.0 mm/s; r_critical: 72.7mm; r_stop: 72.7mm ;duration_stop: 5.6s
16:13:15.026 duet2.duet_comm GCODE: M106 P3 S0.95
16:13:15.036 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
16:13:16.307 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
16:13:16.309 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
16:13:17.108 duet1.duet_comm RUN MACRO: dough_spread_air.g
16:13:17.112 duet2.duet_comm GCODE: T0 G1 E21.767305299678092 F232.4188376753507
16:13:17.124 duet2.duet_comm GCODE: T0 G1 E5.7324277759647595 F201.0941883767535
16:13:29.600 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
16:13:29.602 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
16:13:29.598 make_crepe_action cook started
16:13:29.614 duet2.duet_comm GCODE: M106 P3 S0
16:13:59.605 make_crepe_action add_topping started
16:13:59.606 make_crepe_action Topping: apple, Port: 2, Density: 0.03, Flowrate: 1.3, DM: 297.5, Offset: 2.0, Resolution: 10.0, T_per_mm: 0.023076923076923075
16:13:59.610 duet1.duet_comm UPLOAD MACRO: eth-logo_E.g G93 G1 A22 B217 F260.00 G1 A28 B212 F260.00 G1 A34 B206 F260.00 G1 A39 B200 F260.00 G1 A44 B194 F260.00 G1 A48 B201 F260.00 G1 A53 B208 F260.00 G1 A58 B214 F260.00 G1 A54 B223 F260.00 G1 A48 B231 F260.00 G1 A50 B228 F260.00 G1 A55 B220 F260.00 G1 A60 B214 F260.00 G1 A66 B219 F260.00 G1 A74 B222 F260.00 G1 A82 B224 F260.00 G1 A81 B234 F260.00 G1 A79 B244 F260.00 G1 A77 B255 F260.00 G1 A73 B265 F260.00 G94
16:13:59.654 duet1.duet_comm UPLOAD MACRO: eth-logo_T.g G93 G1 A15 B220 F260.00 G1 A8 B222 F260.00 G1 A-0 B223 F260.00 G1 A-8 B222 F260.00 G1 A-16 B221 F260.00 G1 A-13 B221 F260.00 G1 A-5 B223 F260.00 G1 A-2 B228 F260.00 G1 A-2 B238 F260.00 G1 A-2 B249 F260.00 G1 A-3 B259 F260.00 G1 A-4 B269 F260.00 G1 A-6 B279 F260.00 G1 A-14 B290 F260.00 G94
16:13:59.699 duet1.duet_comm UPLOAD MACRO: eth-logo_H.g G93 G1 A-27 B215 F260.00 G1 A-31 B224 F260.00 G1 A-35 B232 F260.00 G1 A-41 B240 F260.00 G1 A-49 B248 F260.00 G1 A-59 B254 F260.00 G1 A-71 B259 F260.00 G1 A-75 B260 F260.00 G1 A-61 B255 F260.00 G1 A-51 B249 F260.00 G1 A-46 B242 F260.00 G1 A-52 B235 F260.00 G1 A-57 B227 F260.00 G1 A-61 B218 F260.00 G1 A-64 B210 F260.00 G1 A-70 B211 F260.00 G1 A-76 B214 F260.00 G1 A-83 B216 F260.00 G1 A-81 B216 F260.00 G1 A-74 B213 F260.00 G1 A-68 B210 F260.00 G1 A-62 B206 F260.00 G1 A-57 B200 F260.00 G1 A-52 B194 F260.00 G1 A-48 B188 F260.00 G94
16:13:59.748 make_crepe_action Uploaded 3 path macros. Starting execution.: [{'name': 'eth-logo_E.g', 'length': 199.916, 'start_coord': {'d': 216.506, 'rot': 21.543}, 'g_code': 'G93\nG1 A22 B217 F260.00\nG1 A28 B212 F260.00\nG1 A34 B206 F260.00\nG1 A39 B200 F260.00\nG1 A44 B194 F260.00\nG1 A48 B201 F260.00\nG1 A53 B208 F260.00\nG1 A58 B214 F260.00\nG1 A54 B223 F260.00\nG1 A48 B231 F260.00\nG1 A50 B228 F260.00\nG1 A55 B220 F260.00\nG1 A60 B214 F260.00\nG1 A66 B219 F260.00\nG1 A74 B222 F260.00\nG1 A82 B224 F260.00\nG1 A81 B234 F260.00\nG1 A79 B244 F260.00\nG1 A77 B255 F260.00\nG1 A73 B265 F260.00\nG94'}, {'name': 'eth-logo_T.g', 'length': 133.034, 'start_coord': {'d': 219.704, 'rot': 15.069}, 'g_code': 'G93\nG1 A15 B220 F260.00\nG1 A8 B222 F260.00\nG1 A-0 B223 F260.00\nG1 A-8 B222 F260.00\nG1 A-16 B221 F260.00\nG1 A-13 B221 F260.00\nG1 A-5 B223 F260.00\nG1 A-2 B228 F260.00\nG1 A-2 B238 F260.00\nG1 A-2 B249 F260.00\nG1 A-3 B259 F260.00\nG1 A-4 B269 F260.00\nG1 A-6 B279 F260.00\nG1 A-14 B290 F260.00\nG94'}, {'name': 'eth-logo_H.g', 'length': 240.948, 'start_coord': {'d': 214.672, 'rot': -27.177}, 'g_code': 'G93\nG1 A-27 B215 F260.00\nG1 A-31 B224 F260.00\nG1 A-35 B232 F260.00\nG1 A-41 B240 F260.00\nG1 A-49 B248 F260.00\nG1 A-59 B254 F260.00\nG1 A-71 B259 F260.00\nG1 A-75 B260 F260.00\nG1 A-61 B255 F260.00\nG1 A-51 B249 F260.00\nG1 A-46 B242 F260.00\nG1 A-52 B235 F260.00\nG1 A-57 B227 F260.00\nG1 A-61 B218 F260.00\nG1 A-64 B210 F260.00\nG1 A-70 B211 F260.00\nG1 A-76 B214 F260.00\nG1 A-83 B216 F260.00\nG1 A-81 B216 F260.00\nG1 A-74 B213 F260.00\nG1 A-68 B210 F260.00\nG1 A-62 B206 F260.00\nG1 A-57 B200 F260.00\nG1 A-52 B194 F260.00\nG1 A-48 B188 F260.00\nG94'}]
16:13:59.769 duet1.duet_comm GCODE: G1 A22 B217 F6000
16:14:02.022 duet2.duet_comm GCODE: T2 G1 E1.4003740814963264 F105.02805611222446
16:14:03.324 duet2.duet_comm GCODE: T2 G1 E8.627329215353784 F112.20240480961925
16:14:03.326 duet1.duet_comm RUN MACRO: eth-logo_E.g
16:14:08.569 duet1.duet_comm GCODE: G1 A15 B220 F6000
16:14:09.733 duet1.duet_comm RUN MACRO: eth-logo_T.g
16:14:09.734 duet2.duet_comm GCODE: T2 G1 E5.741051815939572 F112.20240480961925
16:14:13.736 duet1.duet_comm GCODE: G1 A-27 B215 F6000
16:14:15.163 duet1.duet_comm RUN MACRO: eth-logo_H.g
16:14:15.163 duet2.duet_comm GCODE: T2 G1 E10.3980557823339 F112.20240480961925
16:14:21.285 make_crepe_action fold started
16:14:21.286 duet2.duet_comm GCODE: T2 G1 E-0.58249832999332 F43.687374749499
16:14:21.287 duet1.duet_comm GCODE: G1 B10 F6000
16:14:21.324 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
16:14:21.338 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
16:14:33.591 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
16:14:33.592 make_crepe_action fold started
16:14:33.605 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
16:14:41.734 make_crepe_action push_off started
16:14:41.743 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
16:14:50.596 duet1.duet_comm GCODE: G91 G1 U2.5 G90
16:14:50.596 make_crepe_action wipe_spatula started
16:14:50.611 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