From b7288b442e9ecd67a552552a38ca4d2520bf61f7 Mon Sep 17 00:00:00 2001
From: jonny_l480 <jonny@wwad.de>
Date: Tue, 20 Feb 2024 09:41:34 +0100
Subject: [PATCH] Fix Motor jump at startup / always on - all modes tested

While testing the new commits on actual hardware noticed
the motors always beeing on at full power.

-> This was due to uninitialized value. It had to fade down from
duty 81236182734612738 which takes forever.

-> This also fixes the old issue where left motor jumped for a
second after startup

Also tested JOYSTICK, HTTP, ADJUST_CHAIR modes and encoder+menu
---
 common/motorctl.hpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/common/motorctl.hpp b/common/motorctl.hpp
index 5792d55..f2ee60c 100644
--- a/common/motorctl.hpp
+++ b/common/motorctl.hpp
@@ -64,8 +64,8 @@ class controlledMotor {
         float currentMax;
         float currentNow;
 
-        float dutyTarget;
-        float dutyNow;
+        float dutyTarget = 0;
+        float dutyNow = 0;
         float dutyIncrementAccel;
         float dutyIncrementDecel;
         float dutyDelta;
@@ -74,7 +74,7 @@ class controlledMotor {
         uint32_t msFadeDecel;
 
         uint32_t ramp;
-        int64_t timestampLastRunUs;
+        int64_t timestampLastRunUs = 0;
 
 		bool deadTimeWaiting = false;
 		uint32_t timestampsModeLastActive[4] = {};