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I understand that you are using a DC motor for the thruster.
Typically you will need 2 relays: one on-off relay (a SPST would be enough) and one reverse direction relay. The reverse direction relay can be a DPDT File:Relay symbols.svg - Wikipedia, the free encyclopedia. According to this you can connect motor poles to C1 and C2, positive to A1 and B2 and negative to B1 and A2 to make the polarity inversion.
To chose the specific relay model the thruster current and voltage should be known.
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