diff --git a/src/shared/drivers/timer/CountedPWM.cpp b/src/shared/drivers/timer/CountedPWM.cpp
index 9187f92bc83c3619e5e822e85a665aa8e1cb1275..f5cc4f8c62a8942ae859891a264a95ce7e756256 100644
--- a/src/shared/drivers/timer/CountedPWM.cpp
+++ b/src/shared/drivers/timer/CountedPWM.cpp
@@ -85,8 +85,8 @@ void CountedPWM::setDutyCycleResolution(unsigned int dutyCycleResolution)
 
 void CountedPWM::generatePulses(uint16_t pulses)
 {
-    // Reset the counters
-    pulseTimer.setCounter(0);
+    // Reset only the counter timer so that the pulses are generated always with
+    // the correct frequency and duty cycle
     counterTimer.setCounter(0);
 
     // Set the capture and compare register to the number of pulses to generate