Modify Feetech Skill Configuration UI

Would you mind rewriting this question so we can better understand what you’re looking for?

Yes - here’s a clearer version of your question that should make the goal easier to understand:

How can I modify the Feetech RS485 servo robot skill in ARC so its configuration panel includes additional controls for servo speed, acceleration, and torque?

More specifically:

• I want to update the Configuration UI of the Feetech RS485 servo Robot Skill in ARC.
• I want to add dialog fields and/or checkboxes for:
  • Speed
  • Acceleration
  • Torque
• I want the skill to send these values over RS485 serial commands to the Feetech servos.
• I previously modified the skill to allow higher servo ID values, but that version is no longer compatible with the newer HL Feetech servos.
• I’d like to know:
  1. Which part of the skill needs to be changed - the configuration UI, the code that builds the serial packets, or both?
  2. How should the skill be updated so ARC exposes these new settings properly?
  3. What changes are required to make the skill work with the newer HL servos while supporting these added parameters?

If helpful, I can also provide any existing code snippets or explain exactly what behavior I want in ARC.

If you want, I can also help you rewrite this into a shorter forum-style post or a more technical developer request.

Speed, acceleration are set with ARC script commands - or in a robot skill advanced options.

The torque are you referring to torque limit?

Yes - speed and acceleration are already exposed in ARC through script commands and in a robot skill’s Advanced options, so you typically wouldn’t need to add separate config fields for those unless you want a custom UI workflow.

For torque, the key question is exactly what you mean:

• Torque enable/disable
  This is usually just hold vs release.
• Torque limit
  This is the maximum effort the servo is allowed to apply.
• Torque current / protection settings
  Some Feetech models expose current-based protection and overload behavior.

For the Feetech RS485 Servo skill, those are already supported via controlCommand() options and the skill’s advanced settings. For example, the skill supports things like:

• SetSpeed
• SetAcceleration
• SetTorqueEnable
• SetTorqueLimit
• SetMaxTorque

If your goal is to change the configuration panel UI specifically, it helps to know whether you want:

1. A permanent saved setting in the skill configuration, or
2. A runtime command that changes the servo behavior on demand.

Best approach

If this is about the skill itself, the parts that would need adjustment are usually:

• the configuration UI if you want new saved options
• the skill logic that maps ARC settings to the Feetech command packets
• the controlCommand handlers if you want those options available programmatically

Important note

If the newer HL Feetech servos are not compatible with your earlier custom version, it may be better to avoid editing the existing skill directly and instead create a new robot skill based on the current Feetech implementation. That way you can preserve compatibility and add only the options you need.

You can review ARC robot skill creation here: https://synthiam.com/Support/Create-Robot-Skill/Overview

And the Feetech RS485 servo skill documentation here: https://synthiam.com/Support/Skills/Servo/Feetech-RS485-Servo?id=20619

If you want, I can help you determine which Feetech command/register corresponds to your "torque" setting and outline exactly what code changes would be needed in the skill.