Please follow the instructions in the #server-info channel to be able to send messages. Tip: Join the Discord server before linking your Discord and SMD accounts. Otherwise, you may have to wait up to 24 hours for your permissions/roles to sync.
Discord is an "all-in-one voice and text chat for gamers that's free, secure, and works on both your desktop and phone." The StarMade Discord server does not have voice chat enabled.
You can use the desktop/mobile applications or access Discord directly from your browser.