# Thanos Controller

The Thanos Controller output sends actuator positions to a **Thanos** motion platform over a serial connection. DR Sim Manager supports both the **Thanos 4U** (4-actuator) and **Thanos AMC** (7-actuator) controllers. These are commercial servo-based motion controllers commonly used in high-performance sim racing and flight simulation rigs.

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## Setup Steps

1. Connect your Thanos controller to your PC via USB.
2. In DR Sim Manager, go to the **Outputs** tab and click the **+** tab.
3. Select **Thanos Controller** from the list.
4. Select the **Preset** that matches your hardware (Thanos 4U or Thanos AMC).
5. Select your **COM port** from the dropdown (click **Refresh** if it's not listed).
6. Adjust the **Output Rate** if needed (default: 2 ms).
7. Map each channel to the appropriate sim component actuator.
8. The output connects automatically once a valid COM port is selected.

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## Settings

### Preset

Select your Thanos hardware variant from the preset dropdown:

- **Thanos 4U** — 4-actuator configuration
- **Thanos AMC** — 7-actuator configuration

The preset automatically configures the number of axes for your controller.

### Serial Port

Select the COM port that your Thanos controller is connected to from the dropdown. Click **Refresh** to rescan for available ports if you connected the controller after opening DR Sim Manager.

The connection uses a **fixed baud rate of 250,000** with **16-bit position values**.

### Output Rate

Adjust the output rate (in milliseconds) to control how frequently position updates are sent to the controller. The default is **2 ms** (500 Hz). Lower values mean faster updates but increase communication load.

### Auto Enable Servo

When enabled, DR Sim Manager will automatically:

- **On connect** — Verify the firmware version, activate the controller, and power on all servos.
- **On disconnect** — Park the actuators, power off the servos, and deactivate the controller.

This provides a hands-free startup and shutdown experience. If disabled, you must manage servo power through your Thanos controller's own interface.

> **note**
During the auto startup sequence, the controller goes through a handshake process that verifies firmware compatibility and system status. If the controller is in an E-stop state, a warning will be logged and the startup will still proceed, but the servos may not engage until the E-stop condition is cleared.

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## Axis Mapping

Map each actuator channel on the Thanos to a specific sim component axis. The number of available channels depends on your preset (4 for Thanos 4U, 7 for Thanos AMC). For each channel, you can configure:

- **Device** — Select the sim component (e.g., your hexapod or seat mover)
- **Actuator** — Select which actuator output to send on this channel

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## Connection Behavior

When DR Sim Manager connects to the Thanos controller:

1. The serial port is opened at 250,000 baud.
2. If **Auto Enable Servo** is on, the startup sequence runs: firmware verification, controller activation, servo power-on, and system status check.
3. Position data is then sent continuously at the configured output rate.

When disconnecting with Auto Enable Servo on:

1. A 2-second delay allows any pending motion to settle.
2. The controller parks the actuators.
3. Servos are powered off.
4. The controller is deactivated.

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## Troubleshooting

### Actuators not responding

1. **Check the COM port** — Confirm the correct port is selected in **Device Manager > Ports (COM & LPT)**.
2. **Check the preset** — Ensure you selected the correct hardware variant (4U vs AMC). Using the wrong preset will send the wrong number of channels.
3. **Check servo power** — If Auto Enable Servo is off, the servos may not be powered. Enable it or power on servos through the Thanos interface.
4. **Check USB connection** — Try a different USB port or cable.

### Controller reports E-stop state

The Thanos controller has an emergency stop feature. If the controller is in E-stop, the servos will not engage. Clear the E-stop condition on the controller hardware, then reconnect in DR Sim Manager.

### Startup takes a long time or times out

The auto startup sequence includes firmware verification and multiple handshake steps. If any step times out, check that:

- The controller firmware is up to date.
- The USB connection is stable (avoid USB hubs if possible).
- No other software is using the COM port.

### COM port not listed or "Access Denied"

See [Serial Output Not Working](../frequently-asked-questions/serial-output-not-working.md) for general COM port troubleshooting steps.