When we drive motors/read voltages (ADC) - what do we do? I know we need to use a cable bus. I also know we need to connect GND pin to ground of the cct. Is there any more magic or is that it?

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You'll need to use the cable bus. GND can go to the ground of the circuit. You shouldn't need ADC to drive motors, that should be PWM, or even just a digital high

yea yea i mean if you do one OR the other (XOR more precisely)

BUt the GND thing and the cable bus should be it? No more connections?

Nope

Thaaank you ! 

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