message: Cleaner clamping
diff: @@ -197,13 +197,12 @@ float Motor::effective_current_lim() {
  float Motor::max_available_torque() {
  if (config_.motor_type == Motor::MOTOR_TYPE_ACIM) {
  float max_torque = effective_current_lim() * config_.torque_constant * current_control_.acim_rotor_flux;
  - max_torque = std::clamp(max_torque, 0.0f, max_torque);
  - max_torque = std::min(max_torque, config_.torque_lim);
  + max_torque = std::clamp(max_torque, 0.0f, config_.torque_lim);
  return max_torque;
  }
  else {
  float max_torque = effective_current_lim() * config_.torque_constant;
  - max_torque = std::min(max_torque, config_.torque_lim);
  + max_torque = std::clamp(max_torque, 0.0f, config_.torque_lim);
  return max_torque;
  }
  }
  