DIFFERENTIAL(9)

✨ NAME ✨

okay bestie, say hi to differential — it's the kinematics for a differential transmission, and it's literally the moment 💅

---

🌸 SYNOPSIS 🌸

loadrt differential [count=N|names=name1[,name2...]]

load it up with loadrt, and you either grab count=N copies or name your faves one by one with names=name1[,name2...] 🎀

---

🔥 FUNCTIONS 🔥

• differential.N

ngl, this one requires a floating-point thread. no floaty thread, no function. periodt. 💀

---

👑 PINS 👑

every N here matches whichever instance you spun up, okurrr 🦋

• differential.N.roll-cmd — float in — the position command for roll, measured in degrees ✨
• differential.N.pitch-cmd — float in — the position command for pitch, also in degrees 🌸
• differential.N.roll-fb — float out — position feedback for roll, and yeah, degrees 💜
• differential.N.pitch-fb — float out — position feedback for pitch, in degrees 🎀
• differential.N.motor0-cmd — float out — position command heading out to motor0, and it's based on the roll & pitch inputs, no cap 🫶
• differential.N.motor1-cmd — float out — position command heading out to motor1, also based on the roll & pitch inputs 🔥
• differential.N.motor0-fb — float in — position feedback coming in from motor0 ⭐
• differential.N.motor1-fb — float in — position feedback coming in from motor1 🌈

---

💖 AUTHOR 💖

Sebastian Kuzminsky — icon behavior honestly 👑

---

🌈 LICENSE 🌈

GPL — that's the whole vibe 🧚

---

that's the page, bestie, you ate it up 🍓 stay floaty, stay differential 💅

courtesy of the LinuxCNC Documentation girlies, dated 2026-03-17 — see u next time 🎀✨