The source code of Argon servo drive’s STM32F205 ARM Cortex M3 microcontroller has been released under GPL v2 license! What this means to the user is that now he/she can alter servo drive behavior and functionality.
For example, one can implement a pre-programmed motion sequences that are triggered by simple digital input state change (such as push-button interface) or add support for a custom feedback device. It’s also possible to implement highly advanced adaptive control where motor gains are varied depending on external variables.
The source code is downloadable from Granite Devices GitHub page. Users are free to share and commit their changes so eventually everyone could enjoy them out of the box.