diff --git a/Firmware/MotorControl/controller.cpp b/Firmware/MotorControl/controller.cpp
index f4b7f84b..beb93528 100644
--- a/Firmware/MotorControl/controller.cpp
+++ b/Firmware/MotorControl/controller.cpp
@@ -256,8 +256,7 @@ bool Controller::update(float* current_setpoint_output) {
     // Velocity limiting
     float vel_lim = config_.vel_limit;
     if (config_.enable_vel_limit) {
-        if (vel_des > vel_lim) vel_des = vel_lim;
-        if (vel_des < -vel_lim) vel_des = -vel_lim;
+        vel_des = std::clamp(vel_des, -vel_lim, vel_lim);
     }
 
     // Check for overspeed fault (done in this module (controller) for cohesion with vel_lim)
diff --git a/Firmware/MotorControl/motor.cpp b/Firmware/MotorControl/motor.cpp
index 39115713..48b66c98 100644
--- a/Firmware/MotorControl/motor.cpp
+++ b/Firmware/MotorControl/motor.cpp
@@ -447,9 +447,8 @@ bool Motor::update(float current_setpoint, float phase, float phase_vel) {
 
     // TODO: 2-norm vs independent clamping (current could be sqrt(2) bigger)
     float ilim = effective_current_lim();
-    // TODO: use std::clamp (C++17)
-    float id = MACRO_MIN(MACRO_MAX(current_control_.Id_setpoint, -ilim), ilim);
-    float iq = MACRO_MIN(MACRO_MAX(current_setpoint, -ilim), ilim);
+    float id = std::clamp(current_control_.Id_setpoint, -ilim, ilim);
+    float iq = std::clamp(current_setpoint, -ilim, ilim);
 
     if (config_.motor_type == MOTOR_TYPE_ACIM) {
         // Note that the effect of the current commands on the real currents is actually 1.5 PWM cycles later
@@ -460,7 +459,7 @@ bool Motor::update(float current_setpoint, float phase, float phase_vel) {
             float abs_iq = fabsf(iq);
             float gain = abs_iq > id ? config_.acim_autoflux_attack_gain : config_.acim_autoflux_decay_gain;
             id += gain * (abs_iq - id) * current_meas_period;
-            id = MACRO_MIN(MACRO_MAX(id, config_.acim_autoflux_min_Id), ilim);
+            id = std::clamp(id, config_.acim_autoflux_min_Id, ilim);
             current_control_.Id_setpoint = id;
         }