Video

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Frame Analysis

15:38:53 1:56 observation 15:40:49
1 15:39:22
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2 15:39:51
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3 15:40:20
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Phases

Phase Detail Progress Time Elapsed
init 0% 16:38:53 0.009s
prepare 0.0000037094600884302054% 16:38:53 0.198s
oiling 0.0266501996666193% 16:38:56 2.688s
spread_dough 0.10664296895265579% 16:39:04 10.704s
cook 0.25378668308258057% 16:39:18 25.383s
add_topping 0.5538211464881897% 16:39:48 55.393s
fold 0.7864271402359009% 16:40:12 78.679s
push_off 0.9924327731132507% 16:40:32 99.247s
wipe_spatula 1% 16:40:41 107.708s

Machine Logs

16:38:53.498 crepe_log_node Action status update: 1
16:38:53.497 make_crepe_action Executing make_crepe action
16:38:53.500 make_crepe_action prepare started
16:38:53.502 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-20_16-38-53/session.json
16:38:53.505 duet1.duet_comm GCODE: G28 X Y
16:38:53.505 crepe_log_node Action status update: 2
16:38:53.515 duet1.duet_comm GCODE: G92 A0
16:38:53.524 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
16:38:56.165 make_crepe_action oiling started
16:38:56.169 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
16:38:56.178 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
16:38:58.178 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
16:38:58.233 duet1.duet_comm RUN MACRO: oiling_optimized.g
16:38:59.033 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
16:39:02.596 make_crepe_action wait_until: timeout waiting for idle
16:39:02.598 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
16:39:02.600 duet1.duet_comm GCODE: G92 A0
16:39:04.167 make_crepe_action spread_dough started
16:39:04.168 make_crepe_action Full Duration: 7.1s; Speed: 275.0 mm/s; r_critical: 72.7mm; r_stop: 72.7mm ;duration_stop: 5.6s
16:39:04.173 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
16:39:04.173 duet2.duet_comm GCODE: M106 P3 S0.95
16:39:05.454 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
16:39:05.455 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
16:39:06.255 duet2.duet_comm GCODE: T0 G1 E21.767305299678092 F232.4188376753507
16:39:06.258 duet1.duet_comm RUN MACRO: dough_spread_air.g
16:39:06.266 duet2.duet_comm GCODE: T0 G1 E5.7324277759647595 F201.0941883767535
16:39:18.878 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
16:39:18.879 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
16:39:18.880 make_crepe_action cook started
16:39:18.894 duet2.duet_comm GCODE: M106 P3 S0
16:39:48.882 make_crepe_action add_topping started
16:39:48.882 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
16:39:48.886 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
16:39:48.970 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
16:39:49.032 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
16:39:49.079 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'}]
16:39:49.081 duet1.duet_comm GCODE: G1 A22 B229 F6000
16:39:51.449 duet2.duet_comm GCODE: T1 G1 E1.4003740814963264 F105.02805611222446
16:39:52.752 duet1.duet_comm RUN MACRO: eth-logo_E.g
16:39:52.753 duet2.duet_comm GCODE: T1 G1 E5.64426242247458 F66.2865731462926
16:39:58.019 duet1.duet_comm GCODE: G1 A15 B232 F6000
16:39:59.744 duet1.duet_comm RUN MACRO: eth-logo_T.g
16:39:59.747 duet2.duet_comm GCODE: T1 G1 E3.7559715436057304 F66.2865731462926
16:40:04.001 duet1.duet_comm GCODE: G1 A-27 B227 F6000
16:40:05.456 duet2.duet_comm GCODE: T1 G1 E6.802725855711425 F66.2865731462926
16:40:05.458 duet1.duet_comm RUN MACRO: eth-logo_H.g
16:40:12.140 duet2.duet_comm GCODE: T1 G1 E-0.58249832999332 F43.687374749499
16:40:12.141 duet1.duet_comm GCODE: G1 B10 F6000
16:40:12.142 make_crepe_action fold started
16:40:12.177 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
16:40:12.192 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
16:40:24.592 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
16:40:24.600 make_crepe_action fold started
16:40:24.607 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
16:40:32.743 make_crepe_action push_off started
16:40:32.749 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
16:40:41.169 make_crepe_action wipe_spatula started
16:40:41.171 duet1.duet_comm GCODE: G91 G1 U2.5 G90
16:40:41.188 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