[kamocat]

In addition to that, the programmer must know what sort of actuator is being used - variable-speed motor, a relay-controlled motor, a pneumatic piston
as well as how that actuator is actually coupled to the claw or arm or drivetrain, or whatever it may be
so that the programmer can determine what sensors should be used and where they should be placed. (theoretically, the electrical or mechanical team pick the sensors, but not without a programmer's input)