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The Delta firmware is a derivative of the open source VESC project by Benjamin Vedder, adapted by Intrusive Robotics for the Delta GaN ESC hardware.

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Build

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Relationship to upstream

Upstream source

vedderb/bldc — the VESC firmware the Delta derives from.

Delta source

IntrusiveRobotics/Delta — this firmware, including hardware support for the Delta.
The Delta firmware adds hardware support for the Delta GaN ESC — the GaN gate drive stage, thermal management for the 70 A rating, and board-specific pin and peripheral configuration. It remains compatible with VESC Tool for configuration, tuning, and firmware operations.
The Delta is sensorless only. There is no encoder input on this hardware, so encoder-related functionality present in upstream VESC does not apply.

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Licensing

Because the firmware derives from a GPL v3 work, it is distributed under GPL v3. See license.

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Trademarks

VESC® is a registered trademark. The Delta is compatible with VESC software but is not a VESC-branded product and is not affiliated with or endorsed by Benjamin Vedder or the VESC project. See trademarks.
Last modified on September 1, 2026