Simple analogue outputs can be achieved with PWM and a first order filter. A single analogue input of up to 12-bit resolution (or 14-bit resolution with oversampling) is part of the standard Pilot-CAN hardware but is not normally wired to the external connector. We have also produced a daughterboard for the Pilot-MUX and Pilot-CAN that can sample at 16-bit resolution with an instrument amplifier front-end. The best yellowcog product (off-the-shelf or custom) depends on the performance required and whether there is a requirement for analogue input(s), output(s) or both.
See Analogue Products or for help: Analogue Input Module (ADC) and Analogue Output Module (DAC).