---
name: "differential"
section: "9"
platform: "linux"
package: "linuxcnc-uspace"
version: "1:2.9.4-2+deb13u1"
release: "Debian 13 (Trixie)"
platforms: ["linux"]
url: "https://new.carta.tech/differential"
---

# differential(9)

kinematics for a differential transmission

## NAME

differential - kinematics for a differential transmission

## SYNOPSIS

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

## FUNCTIONS

- **differential.***N* (requires a floating-point thread)

  ## PINS

- **differential.*N*.roll-cmd float in**

  position command for roll (in degrees)

- **differential.*N*.pitch-cmd float in**

  position command for pitch (in degrees)

- **differential.*N*.roll-fb float out**

  position feedback for roll (in degrees)

- **differential.*N*.pitch-fb float out**

  position feedback for pitch (in degrees)

- **differential.*N*.motor0-cmd float out**

  position command to motor0 (based on roll & pitch inputs)

- **differential.*N*.motor1-cmd float out**

  position command to motor1 (based on roll & pitch inputs)

- **differential.*N*.motor0-fb float in**

  position feedback from motor0

- **differential.*N*.motor1-fb float in**

  position feedback from motor1

## AUTHOR

Sebastian Kuzminsky

## LICENSE

GPL