This is a simplified template, feel free to change it if it does not fit your case.
Describe the bug
The members feed_forward_current and feed_forward_voltage of FOCMotor have not been initialized. They are just garbage values stored in the memory, and you are merely reading them.
This is a simplified template, feel free to change it if it does not fit your case.
Describe the bug
The members
feed_forward_currentandfeed_forward_voltageofFOCMotorhave not been initialized. They are just garbage values stored in the memory, and you are merely reading them.