STS32XX-Firmware
An open-source servo firmware project that redesigns the position-loop control and encoder data processing logic for the Feetech STS32XX series of servos, improving the positioning accuracy of the SO-ARM robotic arm.
Timeline (last 90 days)
By writing custom open-source firmware, a developer reduced positioning error on the SO-ARM101 from 35 mm to 10 mm.
On the SO-ARM102, the custom firmware compressed positioning error from 25 mm to 0–2 mm.
STS32XX-Firmware is an open-source project maintained on GitHub by user roboninecom that directly modifies the firmware of Feetech STS32XX series servos.
The core changes in STS32XX-Firmware are concentrated at the firmware level rather than hardware modification, including rewriting the position-loop control algorithm, optimizing filtering and linearization of the encoder signal, and adjusting the feedback frequency in the communication protocol.
By increasing the control frequency, retuning the gains and introducing feedforward compensation, the custom firmware can significantly improve servo tracking performance, which is the key reason the SO-ARM102 error was compressed to 0–2 mm.
Firmware flashing carries certain risks, and improper operation may prevent the servo from working properly.
All Facts (6)
By writing custom open-source firmware, a developer reduced positioning error on the SO-ARM101 from 35 mm to 10 mm.
50%UnverifiedOn the SO-ARM102, the custom firmware compressed positioning error from 25 mm to 0–2 mm.
50%UnverifiedSTS32XX-Firmware is an open-source project maintained on GitHub by user roboninecom that directly modifies the firmware of Feetech STS32XX series servos.
50%UnverifiedThe core changes in STS32XX-Firmware are concentrated at the firmware level rather than hardware modification, including rewriting the position-loop control algorithm, optimizing filtering and linearization of the encoder signal, and adjusting the feedback frequency in the communication protocol.
50%UnverifiedBy increasing the control frequency, retuning the gains and introducing feedforward compensation, the custom firmware can significantly improve servo tracking performance, which is the key reason the SO-ARM102 error was compressed to 0–2 mm.
50%UnverifiedFirmware flashing carries certain risks, and improper operation may prevent the servo from working properly.
50%