Our Elco Motor Yachts EP-5 outboard motors support wigwag throttle control out of the box. Wigwag throttle involves using a 10k potentiometer to indicate the commanded throttle to the motor. This works with many off-the-shelf throttle control systems.

However, as we are building a robot, we want this to be controlled electronically. We use a digital potentiometer to provide the throttle command to the motor. There is more to the motor than just the throttle command, though. The motor must first be enabled via a switch and then receive a 0 throttle command (corresponding to 2.5V) in sequence in order to be armed. At this point, we can then use a throttle enable switch, which functions as a dead zone.