cu-feetech

Copper bridge for Feetech STS/SCS serial bus servos (e.g. STS3215 in SO-100/SO-101 arms).

• Rx positions: present joint positions from all configured servos.
• Tx goal_positions: goal positions written via sync-write.

Config

In copperconfig.ron: bind a serial resource and set servo IDs (servo0, servo1, …). Optionally set units to "raw" (default), "deg", "rad", or "normalize"; for deg/rad/normalize add calibration_file (path to JSON from feetech-calibrate). For deg/rad, ticks_per_rev (raw units per 360°) is model-dependent and optional (default 4096). Use "normalize" for leader–follower so both arms share the same [-1, 1] scale per joint.

Calibration

Run the calibration binary, move each servo through its range, then press Enter. Optionally pass the output path as the last argument (default: calibration.json):

cargo run -p cu-feetech --bin feetech-calibrate -- /dev/ttyACM0 1 2 3 4 5 6
cargo run -p cu-feetech --bin feetech-calibrate -- /dev/ttyACM0 1 2 3 4 5 6 calibration_leader.json

Example

See the cu-feetech-demo example for a minimal app that reads and logs positions.