A beverage preparation machine for preparing single servings can include a lid assembly (140) that can move between an open configuration and a closed configuration. The machine can also include a basket assembly (170) having a chamber (172) for receiving a cartridge containing a beverage precursor. Additionally, the machine can include a tamping assembly (200) that can move between a latched state and a tamped state. The tamping assembly can include a tamping surface (208), a tamp spring element, a lid cam (206) connected to the lid assembly, and a collar (214). The lid cam can include a cam path disposed along a sidewall of the lid cam, and the collar can have one or more cam teeth (216) that can engage the cam path (220). In the tamped state, the tamping surface can be closer to the basket assembly than in the latched state.