How to write a script in cloud9 to control thrusters without cockpit


Hi all, I am planning to hard code some python or js scripts such that the ROV can run itself without using cockpit.
Just simply launch the script using SSH or cloud9. like “sudo node XXXXX.js” or “sudo python”.

I found some .cpp and .h files in the “/opt/openrov/firmware/sketches/OpenROV2x/” including CThruster.h and CThruster_2X1.cpp, but how do I start?

Is there any examples that I can follow through first?