> ## Documentation Index
> Fetch the complete documentation index at: https://docs.intrusiverobotics.com/llms.txt
> Use this file to discover all available pages before exploring further.

# Input configuration

> Configure the Delta GaN ESC control source — PPM, ADC, UART, CAN, or ADC+UART — with the Setup Input wizard.

Once the motor is detected and tuned, the Delta still needs to know **where its throttle commands come from**. That is what the input configuration sets.

<Info>
  Run the FOC setup wizard first. Configuring an input before the motor is detected means your first throttle input drives an untuned motor. See the [quickstart](/guides/quickstart) and [motor tuning](/guides/motor-tuning).
</Info>

## Running the Setup Input wizard

On the **Welcome & Wizards** page, click **Setup Input**.

<Warning>
  Keep the motor unloaded and clear during input setup. Calibration involves moving the throttle through its full range, and a miscalibrated input can command full throttle unexpectedly.
</Warning>

<Steps>
  <Step title="Choose the control source">
    PPM, ADC, UART, CAN, or ADC+UART. See the comparison below.
  </Step>

  <Step title="Calibrate">
    Follow the wizard's calibration steps for the source you picked.

    For **PPM**, you move the stick through its full range so the tool can capture minimum, maximum, and centre.
  </Step>

  <Step title="Write and verify">
    Confirm the write succeeded, then verify behaviour in Realtime Data before loading the motor.
  </Step>
</Steps>

## Choosing a control source

| Source       | Use it for                                  | Notes                                                                                                                                       |
| ------------ | ------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------- |
| **PPM**      | RC receivers                                | Standard hobby RC pulse signal. Requires the min / max / centre calibration described above.                                                |
| **ADC**      | Analogue throttles                          | Hall-effect or potentiometer throttles, wired to an analogue input.                                                                         |
| **UART**     | Serial control from a host                  | For a companion computer or microcontroller driving the ESC directly.                                                                       |
| **CAN**      | Multi-controller setups, flight controllers | How multiple Delta controllers coordinate on a shared bus. For flight-controller control over CAN, see [UAVCAN / DroneCAN](/guides/uavcan). |
| **ADC+UART** | Analogue throttle with serial supervision   | Combines a physical throttle with a serial link.                                                                                            |

<Note>
  Pin assignments for these inputs are hardware-specific. See the hardware pinouts page for which physical pins carry PPM, ADC, UART, and CAN on the Delta.
</Note>

## After calibration

Verify before you trust it:

<Steps>
  <Step title="Confirm the input range">
    Open **Realtime Data** and move the throttle through its full travel. The commanded value should track smoothly from zero to full with no jumps or dead spots.
  </Step>

  <Step title="Confirm neutral is actually neutral">
    At rest, the commanded current or duty should be zero. A non-zero neutral means the calibration centre is wrong — re-run it.
  </Step>

  <Step title="Confirm direction">
    Forward on the throttle should turn the motor the way you expect. If not, flip the direction toggle in Motor Settings rather than swapping phase wires.
  </Step>

  <Step title="Test the failure case">
    Disconnect or power down the transmitter or host and confirm the controller returns to a safe state. Do this with the motor unloaded, before it matters.
  </Step>
</Steps>

<Warning>
  **Check the loss-of-signal behaviour before first real use.** What the controller does when the input disappears — receiver out of range, host crash, cable pulled — is the difference between coasting to a stop and continuing at the last commanded throttle.
</Warning>

## Troubleshooting

| Symptom                         | Check                                                                                                      |
| ------------------------------- | ---------------------------------------------------------------------------------------------------------- |
| No response to throttle         | Correct control source selected and written? Calibration completed? Signal wire and ground both connected? |
| Motor creeps at neutral         | Calibration centre is off — re-run calibration.                                                            |
| Throttle range feels compressed | Min/max captured over less than the stick's full travel. Re-run and move through the complete range.       |
| Direction is reversed           | Flip the direction toggle in Motor Settings; do not swap phase wires.                                      |
| Input drops intermittently      | Wiring and connector quality; on shared DC bus setups, check for ground loops.                             |

## Related

<CardGroup cols={2}>
  <Card title="Motor tuning and parameters" icon="sliders" href="/guides/motor-tuning">
    Current limits, cutoffs, and sensorless tuning.
  </Card>

  <Card title="UAVCAN / DroneCAN" icon="network-wired" href="/guides/uavcan">
    Running the Delta as a UAVCAN ESC node.
  </Card>
</CardGroup>