Video

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Frame Analysis

18:27:59 1:51 observation 18:29:50
1 18:28:26
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2 18:28:54
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3 18:29:22
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Phases

Phase Detail Progress Time Elapsed
init 0% 19:27:59 0.005s
prepare 0.000003088910034421133% 19:27:59 0.009s
oiling 0.026240525767207146% 19:28:02 2.625s
spread_dough 0.106282539665699% 19:28:10 10.632s
cook 0.26482170820236206% 19:28:26 26.498s
add_topping 0.5648388862609863% 19:28:56 56.485s
fold 0.7648812532424927% 19:29:16 76.490s
push_off 0.9448075294494629% 19:29:34 94.482s
wipe_spatula 1% 19:29:43 103.339s

Machine Logs

19:27:59.711 crepe_log_node Action status update: 1
19:27:59.710 make_crepe_action Executing make_crepe action
19:27:59.713 make_crepe_action prepare started
19:27:59.713 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-20_19-27-59/session.json
19:27:59.715 crepe_log_node Action status update: 2
19:27:59.717 duet1.duet_comm GCODE: G28 X Y
19:27:59.725 duet1.duet_comm GCODE: G92 A0
19:27:59.732 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
19:28:02.337 make_crepe_action oiling started
19:28:02.337 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
19:28:02.339 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
19:28:04.338 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
19:28:04.383 duet1.duet_comm RUN MACRO: oiling_optimized.g
19:28:05.190 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
19:28:08.765 make_crepe_action wait_until: timeout waiting for idle
19:28:08.767 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
19:28:08.771 duet1.duet_comm GCODE: G92 A0
19:28:10.342 make_crepe_action spread_dough started
19:28:10.345 make_crepe_action Full Duration: 8.6s; Speed: 229.2 mm/s; r_critical: 60.6mm; r_stop: 60.6mm ;duration_stop: 7.3s
19:28:10.347 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
19:28:10.349 duet2.duet_comm GCODE: M106 P3 S0.95
19:28:11.625 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
19:28:11.625 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
19:28:12.428 duet2.duet_comm GCODE: T0 G1 E28.266002679537927 F232.4188376753507
19:28:12.433 duet1.duet_comm RUN MACRO: dough_spread_air.g
19:28:12.443 duet2.duet_comm GCODE: T0 G1 E4.764411624347323 F195.97995991983967
19:28:26.195 make_crepe_action cook started
19:28:26.196 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
19:28:26.200 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
19:28:26.206 duet2.duet_comm GCODE: M106 P3 S0
19:28:56.196 make_crepe_action add_topping started
19:28:56.197 make_crepe_action No topping selected for shape, skipping
19:29:16.201 make_crepe_action fold started
19:29:16.201 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
19:29:16.214 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
19:29:26.058 make_crepe_action fold started
19:29:26.059 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
19:29:26.074 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
19:29:34.193 make_crepe_action push_off started
19:29:34.199 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
19:29:43.048 make_crepe_action wipe_spatula started
19:29:43.048 duet1.duet_comm GCODE: G91 G1 U2.5 G90
19:29:43.059 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","chocolate","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