diff --git a/Firmware/MotorControl/low_level.cpp b/Firmware/MotorControl/low_level.cpp
index b40b3274..7748d6f4 100644
--- a/Firmware/MotorControl/low_level.cpp
+++ b/Firmware/MotorControl/low_level.cpp
@@ -713,4 +713,33 @@ void pwm_in_cb(int channel, uint32_t timestamp) {
     last_timestamp[gpio_num - 1] = timestamp;
     last_pin_state[gpio_num - 1] = current_pin_state;
     last_sample_valid[gpio_num - 1] = true;
-}
\ No newline at end of file
+}
+
+
+/* Analog speed control input */
+
+static void update_analog_endpoint(const struct PWMMapping_t *map, int gpio)
+{
+    float fraction = get_adc_voltage(get_gpio_port_by_pin(gpio), get_gpio_pin_by_pin(gpio)) / 3.3f;
+    float value = map->min + (fraction * (map->max - map->min));
+    get_endpoint(map->endpoint)->set_from_float(value);
+}
+
+static void analog_polling_thread(void *)
+{
+    while (true) {
+        for (int i = 0; i < GPIO_COUNT; i++) {
+            struct PWMMapping_t *map = &board_config.analog_mappings[i];
+
+            if (is_endpoint_ref_valid(map->endpoint))
+                update_analog_endpoint(map, i + 1);
+        }
+        osDelay(200);
+    }
+}
+
+void start_analog_thread()
+{
+    osThreadDef(thread_def, analog_polling_thread, osPriorityLow, 0, 4*512);
+    osThreadCreate(osThread(thread_def), NULL);
+}
diff --git a/Firmware/MotorControl/low_level.h b/Firmware/MotorControl/low_level.h
index 3a3225de..503b98e1 100644
--- a/Firmware/MotorControl/low_level.h
+++ b/Firmware/MotorControl/low_level.h
@@ -51,6 +51,7 @@ void sync_timers(TIM_HandleTypeDef* htim_a, TIM_HandleTypeDef* htim_b,
 void start_general_purpose_adc();
 float get_adc_voltage(GPIO_TypeDef* GPIO_port, uint16_t GPIO_pin);
 void pwm_in_init();
+void start_analog_thread();
 
 void update_brake_current();
 
diff --git a/Firmware/MotorControl/main.cpp b/Firmware/MotorControl/main.cpp
index 4146850c..b25da149 100644
--- a/Firmware/MotorControl/main.cpp
+++ b/Firmware/MotorControl/main.cpp
@@ -214,6 +214,8 @@ int odrive_main(void) {
         axes[i]->start_thread();
     }
 
+    start_analog_thread();
+
     system_stats_.fully_booted = true;
     return 0;
 }
diff --git a/Firmware/MotorControl/odrive_main.h b/Firmware/MotorControl/odrive_main.h
index 776f1590..df1bc14b 100644
--- a/Firmware/MotorControl/odrive_main.h
+++ b/Firmware/MotorControl/odrive_main.h
@@ -82,6 +82,7 @@ struct BoardConfig_t {
                                                                         //<! the brake power if the brake resistor is disabled.
                                                                         //<! The default is 26V for the 24V board version and 52V for the 48V board version.
     PWMMapping_t pwm_mappings[GPIO_COUNT];
+    PWMMapping_t analog_mappings[GPIO_COUNT];
 };
 extern BoardConfig_t board_config;
 extern bool user_config_loaded_;
diff --git a/Firmware/communication/communication.cpp b/Firmware/communication/communication.cpp
index 625a3cf7..7c08654a 100644
--- a/Firmware/communication/communication.cpp
+++ b/Firmware/communication/communication.cpp
@@ -163,8 +163,11 @@ static inline auto make_obj_tree() {
             make_protocol_object("gpio2_pwm_mapping", make_protocol_definitions(board_config.pwm_mappings[1])),
             make_protocol_object("gpio3_pwm_mapping", make_protocol_definitions(board_config.pwm_mappings[2])),
 #endif
-            make_protocol_object("gpio4_pwm_mapping", make_protocol_definitions(board_config.pwm_mappings[3]))
-        ),
+            make_protocol_object("gpio4_pwm_mapping", make_protocol_definitions(board_config.pwm_mappings[3])),
+
+            make_protocol_object("gpio3_analog_mapping", make_protocol_definitions(board_config.analog_mappings[2])),
+            make_protocol_object("gpio4_analog_mapping", make_protocol_definitions(board_config.analog_mappings[3]))
+            ),
         make_protocol_object("axis0", axes[0]->make_protocol_definitions()),
         make_protocol_object("axis1", axes[1]->make_protocol_definitions()),
         make_protocol_object("can", can1_ctx.make_protocol_definitions()),