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feat(servo): register the Feetech STS3235 under the STS3215 definition - #158
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pierre-rouanet merged 1 commit intoOct 29, 2026
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An STS3235 answers model number 2057 (bytes 9, 8 at address 3,
read little-endian as for the STS3215) and reads and moves through the
STS3215 control table.
Registering it lets find_model("sts3235") return the STS3215 definition,
so LeRobot and other rustypot consumers can natively drive STS3235 servos.
The tests pin the name to its number and definition.
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Adds the Feetech STS3235 under the STS3215 definition with model number 2057 (bytes
[9, 8]little-endian at address 3).Motivation
This enables LeRobot to address Feetech STS3235 servos natively via
rustypot.find_model("sts3235"), as discussed in huggingface/lerobot#4898.The STS3235 shares the exact same control table and register layout as the STS3215 series (operating mode, baud rates, encoder resolution 4096, little-endian word order, sign-magnitude encodings).
Changes
(STS3235, 2057)under theSTS3215definition insrc/servo/mod.rs.find_model("sts3235"),sts3215::DEFINITION.models, andServoKind::try_from(2057).README.mdandChangelog.md.Validation
cargo test: all 96 unit tests and 11 doc-tests pass.cargo test --features python: Python bindings and pyo3 tests pass.