Pypilot Motor Controller Types

[vadrian]

I have a 1982 Mason 43 sailboat, which I've owned for about 25 years. Installed on it is a vintage Robertson AP200 autopilot that has been decent, but it lacks a remote, is a little cantankerous at times, and basically needs modernization.
As I'm neither in a rush nor looking to drop $10K, I'm looking at a Tinypilot installation, for which I've already bought most of the hardware.
I have the Raspberry Pi Zero W, an Arduino Nano, an IBT-2 controller.
I need to burn the "Sketch" onto the Nano (I am having some tech difficulties with this, but it's probably just the cable, or I need to go full-blown IDE - that is not what this post is about), but to do that, I think I need to know if the motor type I am going to use is H-Bridge or PWM.
I don't frankly know. Is that determined by the IBT-2? Or is it determined by my hydraulic ram (hydraulic motor)?



Basically, my question is: How do I tell (and from that, what mods do I need to make to the motor.ino before burning the image)?




PS: Is this the right forum for this, or should I move it somewhere else?


Adrian

[Bill O]

Maybe Sean will see this thread and respond, otherwise would email him directly seandepagnier at gmail dot com or ask the question on the pypilot forum for the best response.