Hacked Feetech servo firmware cuts SO-ARM robot arm error from 35mm to 0-2mm
micoolcho · x · 2026-11-02
robonine hacked the Feetech STS3215 servo firmware (GD32F130) to boost SO-ARM robot arm accuracy: SO-101 error dropped from 35mm to 10mm, and SO-102 from 25mm to 0-2mm in their tests. The open-source STS32XX-Firmware repo adds locally planned smooth motion, tunable PID, velocity feedforward, and gravity compensation, works with SO-ARM100/101/102, and ships with detailed docs and a quickstart guide.
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