Control table for Feetech STS3215 and compatible STS series servos.
These servos use a 12-bit magnetic encoder (4096 steps per revolution) and support position, velocity, and step control modes.
Operating Modes
:position- Standard position control (default):velocity- Continuous rotation with speed control:step- Stepper mode for multi-turn positioning
Default Settings
- Baud rate: 1,000,000 bps
- ID: 1
- Position range: 0-4095 (one full rotation)
Summary
Functions
Converts baud rate to raw register value.
Returns the default baud rate for this servo series.
Converts mode atom to raw register value.
Radians per step for position conversion.
Converts raw register value to baud rate.
Converts raw register value to mode atom.
Radians per second per speed unit.
Number of encoder steps per revolution.
Functions
Converts baud rate to raw register value.
Returns the default baud rate for this servo series.
Converts mode atom to raw register value.
Radians per step for position conversion.
4096 steps = 2π radians (one full revolution)
Converts raw register value to baud rate.
Converts raw register value to mode atom.
Radians per second per speed unit.
Speed unit = 50 steps/second
Number of encoder steps per revolution.