A system includes a carousel apparatus including: first openings concentrically arranged around axis to hold first containers adapted to hold first food ingredients, second openings concentrically arranged inside the first openings to hold second containers adapted to hold second food ingredients, a holder in which the first openings and the second openings are formed, and which is adapted to support the first containers and the second containers, and a first motor coupled to the holder and adapted to rotate the holder around the axis; support structure configured to hold a receptacle; and a linear actuator apparatus configured to move the support structure and including: a linear guide which extends underneath the holder and is coupled to the support structure, and a second motor coupled to the linear guide and adapted to move the support structure along the linear guide underneath the first openings and the second openings.