Embodiments of the present invention provide IO systems, methods, and devices for interfacing pump controller with control device which may have different interfaces andor signaling formats. A second aspect of the present invention relates to the use of the heterocyclic compounds as ligands for various mammalian cellular receptors, including dopamine transporters. The misalignment responder turns the steering wheel of a towed-vehicle. The system may also include a vehicle speed sensor linked to the data processor means. Thus, the output shaft can be rotated in the normal direction irrespective of whether the input shaft is rotated in the normal direction or in the reverse direction.