Have you ever thought to making Voyager commentate with a PLC that uses Modbus communication protocols? Just asking because I’m a PLC programmer that would like to make a PLC controlled telescope.
I think you could use nodered and add some http endpoints to control the plc. That way you can use Dragscript to talk to nodered then nodered talk to the plc.
The PLC has its own logic program which you don’t control but exchange data in real time and that data tells the PLC program where and what to do if the PLC is programmed to do that where and what.