Very interesting! But normally when the motor is disabled, then the current sense values are not retrieved because _readADCVoltageLowSide won’t get called…
So what exactly is happening? Does it mean after re-enabling, it is retrieving at least one old value? When adding the delay, the peak is less, because the old value’s influence is reduced via the LPF?
And when disabling the trigger, we don’t get the old value, so we don’t get the same peak?
What happens (if I may ask you to try it) if instead of disabling the trigger, you instead call _readADCVoltageLowSide() for each pin, or maybe getPhaseCurrents() once after motor.enable() but before the call to loopFOC()?
→ that might get rid of the old value?