ArduSub is designed to work with brushless and brushed Electronic Speed Controllers (ESCs) to control motors and thrusters. Different motor types require different ESCs, so the ESCs must match the motor type they are being used to control.
ArduPilot does not support controlling both brushed and brushless motors at the same time.
The minimum requirements for an ESC of either type are:
The following brushless ESCs are supported for use with ArduSub:
There is a comparison of properties in the Blue Robotics Technical Reference.
No brushed ESCs have been reported to be used with ArduSub, but here is the reference documentation from ArduPilot: