I just published new updates to the source code over at the #TrillSat project which show how the tethered haptic system was implemented.  About two weeks ago, I had published the SimtheoDecoder module, which performs the Morse decoding (and does most of the work), but now I've released the remaining code (and a small update to the decoder) to show exactly how THUMP was implemented on the prototype itself, the working cablebot known as TRILLSAT-1, to control the motor, perform the EEPROM haptic code validation, and process actual commands.