Zephyr RTOS firmware that turns a stepper motor and an STM32 B-G431B-ESC1 board into a DYNAMIXEL XM430 smart servo for ROS 2: closed-loop microstepping at 20 kHz, MCUboot, tested on a PC with a simulated motor.
embedded robotics firmware servo stm32 dynamixel stepper-motor zephyr ros2 stepper-motor-control dynamixel-protocol microstepping software-in-the-loop motor-control zephyr-rtos stm32g4 mcuboot ros2-control open-manipulator systemfromscratch
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Updated
Nov 13, 2026 - C