#1 working on 2-3-2 electronics for outer legs

I'm using classical linear actuators to move outer legs in my 2-3-2 system.
This linear actuators haven't a position feedback, just 2 wires + and - to move forward and backward (by reversing the power polarity).
In a 2-3-2 system, we need to know the position of the leg.
I've installed a potentiometer on the center of the shoulder and when the leg moves, the potentiometer turn and his value changes.
I will use this information to get the leg position.

I prefer the use this external solution to get the position feedback which is based on the physical leg position.

I've chosen the pololu jrk 21v3 motor controller with feedback. This controller is a configurable brushed DC motor controller which is very useful in our case. We need to stop the linear actuator in the 2 legs and in the 3 legs positions.

here is how a linear actuator must be connected to the pololu controller :

 

 

 

 and this last picture show how it' s done into the linear actuator with feedback wires :

I've installed 10K potentiometers, so if I want to use the feedback control in this controller, I have to put the wires as following :

Yellow (V input) is connected on the AUX pin.
Blue (Rs output) is connected on the FB pin.
White (GND) is connected on a GND pin.

the value between Yellow and White is stable (always 10K) and the Blue wire gives the variable value when the potentiometer moves.