Thruster cables run black to top left, white to top right.
Roboteq pinouts:
12: DOUT1 - estop (NC) TxOut - green - DB9 pin 2
23: TxOut RxIn - blue - DB9 pin 3
34: RxIn DIN1 - estop
9: DOUT2 - sink for arm relay control
14: +5v - estop (NC)