Machinekit Documentation

HAL Component — CLARKEINV

INSTANTIABLE COMPONENTS — General

All instantiable components can be loaded in two manners

Using loadrt with or without count= | names= parameters as per legacy components
Using newinst, which names the instance and allows further parameters and arguments
primarily pincount= which can set the number of pins created for that instance (where applicable)

NAME

clarkeinv — Inverse Clarke transform

SYNOPSIS

clarkeinv

USAGE SYNOPSIS

loadrt clarkeinv
OR
newinst clarkeinv <newinstname> [ pincount=N | iprefix=prefix ] [instanceparamX=X | argX=X ]

( args in [ ] denote possible args and parameters, may not be used in all components )

DESCRIPTION

The inverse Clarke transform can be used rotate a vector quantity and then translate it from Cartesian coordinate system to a three phase system (three components 120 degrees apart).

FUNCTIONS

clarkeinv.N.funct ( OR <newinstname>.funct (requires a floating-point thread) )

PINS

clarkeinv.N.x float in ( OR <newinstname>.x float in )

clarkeinv.N.y float in ( OR <newinstname>.y float in ) - cartesian components of input

clarkeinv.N.h float in ( OR <newinstname>.h float in ) - homopolar component of input (usually zero)

clarkeinv.N.theta float in ( OR <newinstname>.theta float in ) - rotation angle: 0.00 to 1.00 = 0 to 360 degrees

clarkeinv.N.a float out ( OR <newinstname>.a float out )

clarkeinv.N.b float out ( OR <newinstname>.b float out )

clarkeinv.N.c float out ( OR <newinstname>.c float out ) - three phase output vector

LICENCE

GPL