From ed49c9935acc795173d2ccef9d56542e7f4d6906 Mon Sep 17 00:00:00 2001
From: Robin Glauser <robin.glauser@gmail.com>
Date: Fri, 17 Oct 2025 15:15:03 +0200
Subject: [PATCH] Adding magnitude encoding bits for feetech motors according
 to https://github.com/Kotakku/FT_SCServo_Debug_Qt/blob/master/servo/sms_sts.h
 and https://gitee.com/ftservo/FTServo_Python/blob/main/scservo_sdk/sms_sts.py
 (#2223)

---
 src/lerobot/motors/feetech/tables.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/lerobot/motors/feetech/tables.py b/src/lerobot/motors/feetech/tables.py
index 48814957f..91e844a72 100644
--- a/src/lerobot/motors/feetech/tables.py
+++ b/src/lerobot/motors/feetech/tables.py
@@ -206,8 +206,12 @@ MODEL_BAUDRATE_TABLE = {
 # Sign-Magnitude encoding bits
 STS_SMS_SERIES_ENCODINGS_TABLE = {
     "Homing_Offset": 11,
+    "Goal_Position": 15,
     "Goal_Velocity": 15,
+    "Goal_Speed": 15,
+    "Present_Position": 15,
     "Present_Velocity": 15,
+    "Present_Speed": 15,
 }
 
 MODEL_ENCODING_TABLE = {