Video

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Frame Analysis

20:39:31 1:56 observation 20:41:27
1 20:40:00
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2 20:40:29
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3 20:40:58
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Phases

Phase Detail Progress Time Elapsed
init 0% 21:39:31 0.005s
prepare 0.00000265870994553552% 21:39:31 0.049s
oiling 0.026173435151576996% 21:39:34 2.618s
spread_dough 0.10618918389081955% 21:39:42 10.623s
cook 0.26481592655181885% 21:39:58 26.497s
add_topping 0.5648357272148132% 21:40:28 56.516s
fold 0.7918833494186401% 21:40:51 79.192s
push_off 0.9843028783798218% 21:41:10 98.458s
wipe_spatula 1% 21:41:19 107.329s

Machine Logs

21:39:31.865 make_crepe_action Executing make_crepe action
21:39:31.865 crepe_log_node Action status update: 1
21:39:31.866 make_crepe_action prepare started
21:39:31.868 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-20_21-39-31/session.json
21:39:31.869 crepe_log_node Action status update: 2
21:39:31.872 duet1.duet_comm GCODE: G28 X Y
21:39:31.880 duet1.duet_comm GCODE: G92 A0
21:39:31.887 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
21:39:34.484 make_crepe_action oiling started
21:39:34.486 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
21:39:34.491 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
21:39:36.483 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
21:39:36.532 duet1.duet_comm RUN MACRO: oiling_optimized.g
21:39:37.335 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
21:39:40.908 make_crepe_action wait_until: timeout waiting for idle
21:39:40.911 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
21:39:40.912 duet1.duet_comm GCODE: G92 A0
21:39:42.485 make_crepe_action spread_dough started
21:39:42.487 make_crepe_action Full Duration: 8.6s; Speed: 229.2 mm/s; r_critical: 60.6mm; r_stop: 60.6mm ;duration_stop: 7.3s
21:39:42.493 duet2.duet_comm GCODE: M106 P3 S0.95
21:39:42.494 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
21:39:43.772 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
21:39:43.776 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
21:39:44.577 duet1.duet_comm RUN MACRO: dough_spread_air.g
21:39:44.577 duet2.duet_comm GCODE: T0 G1 E28.266002679537927 F232.4188376753507
21:39:44.589 duet2.duet_comm GCODE: T0 G1 E4.764411624347323 F195.97995991983967
21:39:58.347 make_crepe_action cook started
21:39:58.352 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
21:39:58.355 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
21:39:58.366 duet2.duet_comm GCODE: M106 P3 S0
21:40:28.349 make_crepe_action add_topping started
21:40:28.352 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
21:40:28.355 duet1.duet_comm UPLOAD MACRO: eth-logo_E.g G93 G1 A-22 B229 F234.78 G1 A-28 B224 F234.78 G1 A-34 B219 F234.78 G1 A-39 B212 F234.78 G1 A-44 B206 F234.78 G1 A-48 B214 F234.78 G1 A-53 B220 F234.78 G1 A-58 B226 F234.78 G1 A-54 B235 F234.78 G1 A-48 B243 F234.78 G1 A-50 B241 F234.78 G1 A-55 B232 F234.78 G1 A-60 B227 F234.78 G1 A-66 B231 F234.78 G1 A-74 B235 F234.78 G1 A-82 B237 F234.78 G1 A-81 B246 F234.78 G1 A-79 B257 F234.78 G1 A-77 B267 F234.78 G1 A-73 B278 F234.78 G94
21:40:28.399 duet1.duet_comm UPLOAD MACRO: eth-logo_T.g G93 G1 A-15 B232 F234.78 G1 A-8 B234 F234.78 G1 A0 B235 F234.78 G1 A8 B235 F234.78 G1 A16 B233 F234.78 G1 A13 B234 F234.78 G1 A5 B235 F234.78 G1 A2 B241 F234.78 G1 A2 B251 F234.78 G1 A2 B261 F234.78 G1 A3 B271 F234.78 G1 A4 B282 F234.78 G1 A6 B292 F234.78 G1 A14 B302 F234.78 G94
21:40:28.482 duet1.duet_comm UPLOAD MACRO: eth-logo_H.g G93 G1 A27 B227 F234.78 G1 A31 B236 F234.78 G1 A35 B245 F234.78 G1 A41 B253 F234.78 G1 A49 B260 F234.78 G1 A59 B267 F234.78 G1 A71 B271 F234.78 G1 A75 B272 F234.78 G1 A61 B268 F234.78 G1 A51 B262 F234.78 G1 A46 B255 F234.78 G1 A52 B247 F234.78 G1 A57 B239 F234.78 G1 A61 B231 F234.78 G1 A64 B222 F234.78 G1 A70 B223 F234.78 G1 A76 B227 F234.78 G1 A83 B229 F234.78 G1 A81 B228 F234.78 G1 A74 B226 F234.78 G1 A68 B222 F234.78 G1 A62 B218 F234.78 G1 A57 B213 F234.78 G1 A52 B207 F234.78 G1 A48 B200 F234.78 G94
21:40:28.531 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 A-22 B229 F234.78\nG1 A-28 B224 F234.78\nG1 A-34 B219 F234.78\nG1 A-39 B212 F234.78\nG1 A-44 B206 F234.78\nG1 A-48 B214 F234.78\nG1 A-53 B220 F234.78\nG1 A-58 B226 F234.78\nG1 A-54 B235 F234.78\nG1 A-48 B243 F234.78\nG1 A-50 B241 F234.78\nG1 A-55 B232 F234.78\nG1 A-60 B227 F234.78\nG1 A-66 B231 F234.78\nG1 A-74 B235 F234.78\nG1 A-82 B237 F234.78\nG1 A-81 B246 F234.78\nG1 A-79 B257 F234.78\nG1 A-77 B267 F234.78\nG1 A-73 B278 F234.78\nG94'}, {'name': 'eth-logo_T.g', 'length': 133.034, 'start_coord': {'d': 232.204, 'rot': -15.069}, 'g_code': 'G93\nG1 A-15 B232 F234.78\nG1 A-8 B234 F234.78\nG1 A0 B235 F234.78\nG1 A8 B235 F234.78\nG1 A16 B233 F234.78\nG1 A13 B234 F234.78\nG1 A5 B235 F234.78\nG1 A2 B241 F234.78\nG1 A2 B251 F234.78\nG1 A2 B261 F234.78\nG1 A3 B271 F234.78\nG1 A4 B282 F234.78\nG1 A6 B292 F234.78\nG1 A14 B302 F234.78\nG94'}, {'name': 'eth-logo_H.g', 'length': 240.948, 'start_coord': {'d': 227.172, 'rot': 27.177}, 'g_code': 'G93\nG1 A27 B227 F234.78\nG1 A31 B236 F234.78\nG1 A35 B245 F234.78\nG1 A41 B253 F234.78\nG1 A49 B260 F234.78\nG1 A59 B267 F234.78\nG1 A71 B271 F234.78\nG1 A75 B272 F234.78\nG1 A61 B268 F234.78\nG1 A51 B262 F234.78\nG1 A46 B255 F234.78\nG1 A52 B247 F234.78\nG1 A57 B239 F234.78\nG1 A61 B231 F234.78\nG1 A64 B222 F234.78\nG1 A70 B223 F234.78\nG1 A76 B227 F234.78\nG1 A83 B229 F234.78\nG1 A81 B228 F234.78\nG1 A74 B226 F234.78\nG1 A68 B222 F234.78\nG1 A62 B218 F234.78\nG1 A57 B213 F234.78\nG1 A52 B207 F234.78\nG1 A48 B200 F234.78\nG94'}]
21:40:28.534 duet1.duet_comm GCODE: G1 A-22 B229 F6000
21:40:30.910 duet2.duet_comm GCODE: T1 G1 E1.4003740814963264 F105.02805611222446
21:40:32.210 duet2.duet_comm GCODE: T1 G1 E5.64426242247458 F66.2865731462926
21:40:32.214 duet1.duet_comm RUN MACRO: eth-logo_E.g
21:40:37.484 duet1.duet_comm GCODE: G1 A-15 B232 F6000
21:40:38.629 duet2.duet_comm GCODE: T1 G1 E3.7559715436057304 F66.2865731462926
21:40:38.631 duet1.duet_comm RUN MACRO: eth-logo_T.g
21:40:42.907 duet1.duet_comm GCODE: G1 A27 B227 F6000
21:40:44.345 duet1.duet_comm RUN MACRO: eth-logo_H.g
21:40:44.345 duet2.duet_comm GCODE: T1 G1 E6.802725855711425 F66.2865731462926
21:40:51.054 duet2.duet_comm GCODE: T1 G1 E-0.58249832999332 F43.687374749499
21:40:51.054 make_crepe_action fold started
21:40:51.057 duet1.duet_comm GCODE: G1 B10 F6000
21:40:51.068 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
21:40:51.079 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
21:41:02.055 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
21:41:02.056 make_crepe_action fold started
21:41:02.068 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
21:41:10.296 make_crepe_action push_off started
21:41:10.300 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
21:41:19.193 make_crepe_action wipe_spatula started
21:41:19.196 duet1.duet_comm GCODE: G91 G1 U2.5 G90
21:41:19.206 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