This article presents the application of two discrete-time sliding mode controllers, developed in conjunction with a potential function guidance method, to provide control in both position and attitude for a rigid, holonomic spacecraft body using thrusters only. Identification of mass and inertial matrix parameters is also included. Both controllers are demonstrated for their effectiveness under realistic actuator constraints. One of the controllers is also implemented on hardware in a representative 5 degrees of freedom (5DoF) testbed environment to show the practical performance of the methods.