From d6ef95198a6e752fc20617231cd678b08f461fb0 Mon Sep 17 00:00:00 2001
From: Antun Skuric <36178713+askuric@users.noreply.github.com>
Date: Wed, 13 Sep 2023 09:19:12 +0200
Subject: [PATCH 1/4] Update FOC_routine.md

---
 docs/simplefoc_library/digging_deeper/theory/FOC_routine.md | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/docs/simplefoc_library/digging_deeper/theory/FOC_routine.md b/docs/simplefoc_library/digging_deeper/theory/FOC_routine.md
index 475f79f..1125d89 100644
--- a/docs/simplefoc_library/digging_deeper/theory/FOC_routine.md
+++ b/docs/simplefoc_library/digging_deeper/theory/FOC_routine.md
@@ -54,6 +54,9 @@ Inverse Park transformation:<br>
 Inverse Clarke transformation:<br>
 <img src="../extras/Images/inverse_clarke.png" style="margin-left:50px;margin-top:10px;margin-bottom:10px;width:180px">
 
+$u_a = U_{\alpha}$
+$u_b = \frac{-U_{\alpha} + \sqrt{3}U_{\beta}}{2}$
+$u_c = \frac{-U_{\alpha} - \sqrt{3}U_{\beta}}{2}$
 
 Here is the code of implementation of the Sinusoidal PWM in the <span class="simple">Simple<span class="foc">FOC</span>library</span>:
 ```cpp
@@ -229,4 +232,4 @@ But every motor is a bit different and you can check these values empirically on
 
 ## Further read
 
-For more info about the initialization procedure, real-time execution and the implementation details please visit [FOC implementation docs](foc_implementation).
\ No newline at end of file
+For more info about the initialization procedure, real-time execution and the implementation details please visit [FOC implementation docs](foc_implementation).

From de3abc3d48122f9ebbf75a5f0ddde34071260285 Mon Sep 17 00:00:00 2001
From: Antun Skuric <36178713+askuric@users.noreply.github.com>
Date: Wed, 13 Sep 2023 09:28:11 +0200
Subject: [PATCH 2/4] Update FOC_routine.md

---
 .../digging_deeper/theory/FOC_routine.md                  | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/docs/simplefoc_library/digging_deeper/theory/FOC_routine.md b/docs/simplefoc_library/digging_deeper/theory/FOC_routine.md
index 1125d89..bfa5e04 100644
--- a/docs/simplefoc_library/digging_deeper/theory/FOC_routine.md
+++ b/docs/simplefoc_library/digging_deeper/theory/FOC_routine.md
@@ -54,9 +54,11 @@ Inverse Park transformation:<br>
 Inverse Clarke transformation:<br>
 <img src="../extras/Images/inverse_clarke.png" style="margin-left:50px;margin-top:10px;margin-bottom:10px;width:180px">
 
-$u_a = U_{\alpha}$
-$u_b = \frac{-U_{\alpha} + \sqrt{3}U_{\beta}}{2}$
-$u_c = \frac{-U_{\alpha} - \sqrt{3}U_{\beta}}{2}$
+$$u_a = U_{\alpha}$$
+
+$$u_b = \frac{-U_{\alpha} + \sqrt{3}U_{\beta}}{2}$$
+
+$$u_c = \frac{-U_{\alpha} - \sqrt{3}U_{\beta}}{2}$$
 
 Here is the code of implementation of the Sinusoidal PWM in the <span class="simple">Simple<span class="foc">FOC</span>library</span>:
 ```cpp

From a2ed7e8dcafecaf7595eab6cce0acfefa86c694e Mon Sep 17 00:00:00 2001
From: Antun Skuric <36178713+askuric@users.noreply.github.com>
Date: Wed, 13 Sep 2023 09:32:16 +0200
Subject: [PATCH 3/4] Update FOC_routine.md

---
 docs/simplefoc_library/digging_deeper/theory/FOC_routine.md | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/docs/simplefoc_library/digging_deeper/theory/FOC_routine.md b/docs/simplefoc_library/digging_deeper/theory/FOC_routine.md
index bfa5e04..934b2a7 100644
--- a/docs/simplefoc_library/digging_deeper/theory/FOC_routine.md
+++ b/docs/simplefoc_library/digging_deeper/theory/FOC_routine.md
@@ -50,9 +50,10 @@ Sinusoidal modulation is based on two transformation equations.
 <img src="../extras/Images/foc_modulation.png" >
 
 Inverse Park transformation:<br>
-<img src="../extras/Images/inverse_park.png" style="margin-left:50px;margin-top:10px;margin-bottom:10px;width:150px"><br>
+$$U_{\alpha} = U_q sin(\theta)$$
+$$U_{\beta} = U_q cos(\theta)$$
+
 Inverse Clarke transformation:<br>
-<img src="../extras/Images/inverse_clarke.png" style="margin-left:50px;margin-top:10px;margin-bottom:10px;width:180px">
 
 $$u_a = U_{\alpha}$$
 

From 0bf0f4f987ebb4f9e09b6d2096cbe52c7c882d48 Mon Sep 17 00:00:00 2001
From: Antun Skuric <36178713+askuric@users.noreply.github.com>
Date: Wed, 13 Sep 2023 09:34:39 +0200
Subject: [PATCH 4/4] Update FOC_routine.md

---
 docs/simplefoc_library/digging_deeper/theory/FOC_routine.md | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/docs/simplefoc_library/digging_deeper/theory/FOC_routine.md b/docs/simplefoc_library/digging_deeper/theory/FOC_routine.md
index 934b2a7..dbbd23a 100644
--- a/docs/simplefoc_library/digging_deeper/theory/FOC_routine.md
+++ b/docs/simplefoc_library/digging_deeper/theory/FOC_routine.md
@@ -50,7 +50,9 @@ Sinusoidal modulation is based on two transformation equations.
 <img src="../extras/Images/foc_modulation.png" >
 
 Inverse Park transformation:<br>
+
 $$U_{\alpha} = U_q sin(\theta)$$
+
 $$U_{\beta} = U_q cos(\theta)$$
 
 Inverse Clarke transformation:<br>