Read Frequency from both the arms is very less. (10x lesser than write)

[Jeevesh2009]

I am using waveshare ST3215 HS servos to build the arms , using ESP32 Servo driver from waveshare.
I am getting There is no status packet! error while running the code.I tried to debug and found out that if we increase the wait_length in sdk (for rxpacket) it read all values .

wait_length = (6 + data_length) * param_length + 100

This will wait for 100 more packets and takes the encoder values from motors.
Its working without any errors and i can even collect some data But if you see the below line it tells that read freq from both arms is very less. That results in a very jittery motion of follower.

INFO 2025-05-23 12:51:40 rol_utils.py:82 dt:45.88 (21.8hz) dtRlead:17.38 (57.5hz) dtWfoll: 0.43 (2341.0hz) dtRfoll:28.02 (35.7hz)

NOTE:The above info is without any delay(+100) I tried teleoperating only one motor and no changes to original code. Can someone provide any solution.

[brainwavecoder9]

I wonder if this is related. Discord user @svaengheld figured out this can be resolved by upgrading the firmware (3.9 -> 3.10 if I recall):
https://discord.com/channels/1216765309076115607/1237741463832363039/1378393049146589267