The invention relates to a device for feeding cartridges from magazines to small arms, in particular to rifles with a cartridge feed device, which transports the cartridges from a tubular magazine to the barrel by means of a device, in particular a rockerspoon. The method includes receiving an 8b10b source protocol data stream and converting the data stream into a plurality of 33-bit code groups. In one physical realization, a rigid handle or joystick is directly connected to the three-axis stabilized platform and using an inventive control scheme to modulate motor torques so that only the desired forces are felt.