message: Clamp to the lowest of (current_lim) and (max_allowed_current)
diff: @@ -1309,7 +1309,7 @@ static void control_motor_loop(Motor_t* motor) {
  }
  // Current limiting
  - float Ilim = motor->current_control.current_lim;
  + float Ilim = MACRO_MIN(motor->current_control.current_lim, motor->max_allowed_current);
  bool limited = false;
  if (Iq > Ilim) {
  limited = true;
  