# Open-source firmware for Feetech STS32XX servos reduces SO-ARM positioning error to 0–2 mm

- Source: Reddit r/robotics
- Published: 2026-11-03T17:03:27.000Z
- RoboHot: https://robohot.news/en/items/aejjpupsk3dha7iwqp9gsp7ui
- Original: https://www.reddit.com/r/robotics/comments/1xmyj0n/feetech_servo_firmware_hacked_to_make_soarm/

## Summary

The author wrote open-source firmware for the Feetech STS32XX series servos, claiming it nearly eliminates positioning error in most cases. SO-ARM101 positioning error dropped from 35 mm to 10 mm, and SO-ARM102 from 25 mm to 0–2 mm. The firmware is open-sourced on GitHub.