CLARKEINV(9)

💖 CLARKEINV(9) 💖 — the inverse Clarke transform, HAL component edition

okay bestie, gather round, because this one is lowkey iconic and the math is giving rotating vector ✨. This page lives in section 9 of the manual, and it's all about a HAL component called clarkeinv. Let's get into it 🫶

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✨ NAME ✨

clarkeinv — the inverse Clarke transform, aka the glow-up that takes you back from Cartesian land to three-phase land 💅

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🌸 SYNOPSIS 🌸

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

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🦋 DESCRIPTION 🦋

So here's the vibe: the inverse Clarke transform can be used to rotate a vector quantity and then translate it from a Cartesian coordinate system over to a three phase system — meaning three components that are sitting 120 degrees apart. Periodt 👑

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🎀 FUNCTIONS 🎀

• clarkeinv.N — and heads up, this one requires a floating-point thread. No float thread, no function, no slay 😭

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💜 PINS 💜

• clarkeinv.N.x — float in — the x cartesian component of the input 🧚
• clarkeinv.N.y — float in — the y cartesian component of the input. (Yes, x and y are a lil duo, they're the cartesian components of the input together 💖)
• clarkeinv.N.h — float in — the homopolar component of the input, which is usually zero 🌈
• clarkeinv.N.theta — float in — the rotation angle, where 0.00 to 1.00 maps to 0 to 360 degrees 👑
• clarkeinv.N.a — float out — the three phase output vector, phase a ⭐
• clarkeinv.N.b — float out — the three phase output vector, phase b ⭐
• clarkeinv.N.c — float out — the three phase output vector, phase c ⭐

not me being obsessed with a triangle of outputs that are 120 degrees apart, it's giving perfect balance fr fr 🔥

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👀 SEE ALSO 👀

clarke2(9) and clarke3(9) — those are your forward transform besties. Go say hi 💅

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🌟 AUTHOR 🌟

John Kasunich — thank you for your service 🫡💖

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📜 LICENSE 📜

GPL — iconic, generous, free-as-in-freedom energy ✨

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and that's the whole page bestie!! written up by the LinuxCNC Documentation crew, dated 2026-03-17 — mwah, catch you in the next man page 💋🎀🦋