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feat(servo): register the Feetech STS3036 under the STS3215 definition - #150
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pierre-rouanet merged 1 commit intoOct 7, 2026
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An ST-3036-C001 answers model number 521 (bytes 9, 2 at address 3,
read little-endian as for the STS3215) and reads and moves through the
STS3215 control table: checked on one servo at 6 V and 1 Mbps, on a
Waveshare Bus Servo Adapter (A).
Registering it lets find_model("sts3036") return the STS3215 definition,
so a LeRobot bus built on rustypot can name the motor. The tests pin the
name to its number and definition.
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Bump the crate version and turn the Unreleased changelog section into the 1.12.0 release notes: a failed sync read names the motor it stopped at (SyncReadError), and the Feetech STS3036 is registered under the STS3215 definition (#150). A fast sync read that times out now reports TimeoutError inside a SyncReadError, where it used to return the port's io::Error. Assisted-by: Claude:claude-opus-5-5
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Adds the Feetech STS3036 (ST-3036-C001) under the STS3215 definition with model number 521.
This lets LeRobot address the motor by name once huggingface/lerobot#4672 (Feetech buses on rustypot's
find_model) lands and a rustypot release includes it. I'm using it for a 3-finger hand replacing the SO-101 gripper.Bench validation
Tested on hardware using a single ST-3036-C001 connected to a Waveshare Bus Servo Adapter (CH343) at 6V and 1 Mbps.
Registers 0–86 as read from the servo (raw bytes):
Tests pass locally with cargo test, cargo fmt --check and stub_gen.
Related: #113 registers the STS3032 as 2563, in the byte order used before 1.10.0 (where the STS3215 was 2307, now 777). Read little-endian, as here, it would be 778 (bytes [10, 3]), so it is still distinct from 521.
The bench scripts and this change were drafted with an AI coding agent; I ran the hardware checks myself and reviewed everything.