Initialize Ualpha and Ubeta

simplefoc · Oct 30, 2023 · bfa492c · bfa492c
1 parent 655c099
commit bfa492c
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Showing 2 changed files with 4 additions and 2 deletions.
diff --git a/src/StepperMotor.h b/src/StepperMotor.h
@@ -73,8 +73,6 @@ class StepperMotor: public FOCMotor
      */
     void move(float target = NOT_SET) override;
 
-    float	Ualpha,Ubeta; //!< Phase voltages U alpha and U beta used for inverse Park and Clarke transform
-
   /**
     * Method using FOC to set Uq to the motor at the optimal angle
     * Heart of the FOC algorithm

diff --git a/src/common/base_classes/FOCMotor.cpp b/src/common/base_classes/FOCMotor.cpp
@@ -32,6 +32,10 @@ FOCMotor::FOCMotor()
 
   // voltage bemf 
   voltage_bemf = 0;
+
+  // Initialize phase voltages U alpha and U beta used for inverse Park and Clarke transform
+  Ualpha = 0;
+  Ubeta = 0;
 
   //monitor_port 
   monitor_port = nullptr;