# `Feetech.ControlTable.STS3215`
[🔗](https://github.com/beam-bots/feetech/blob/main/lib/feetech/control_table/sts3215.ex#L5)

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)

# `baud_rate_to_raw`

Converts baud rate to raw register value.

# `default_baud_rate`

Returns the default baud rate for this servo series.

# `mode_to_raw`

Converts mode atom to raw register value.

# `position_scale`

Radians per step for position conversion.

4096 steps = 2π radians (one full revolution)

# `raw_to_baud_rate`

Converts raw register value to baud rate.

# `raw_to_mode`

Converts raw register value to mode atom.

# `speed_scale`

Radians per second per speed unit.

Speed unit = 50 steps/second

# `steps_per_revolution`

Number of encoder steps per revolution.

---

*Consult [api-reference.md](api-reference.md) for complete listing*