diff --git a/CHANGELOG.md b/CHANGELOG.md
index f671d0f7..f37e0555 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -18,17 +18,17 @@ Please add a note of your changes below this heading if you make a Pull Request.
 * [CAN Communication with CANSimple stack](can-protocol.md)
 * Gain scheduling for anti-hunt when close to 0 position error
 * Velocity Limiting in Current Control mode according to `vel_limit` and `vel_gain`
-* Regen current limiting according to `max_regen_limit`, in Amps
+* Regen current limiting according to `max_regen_current`, in Amps
 * DC Bus hard current limiting according to `dc_max_negative_current` and `dc_max_positive_current`
+* Brake resistor logic now attempts to clamp voltage according to `odrv.config.dc_bus_overvoltage_ramp_start` and `odrv.config.dc_bus_overvoltage_ramp_end`
 * Unit Testing with Doctest has been started for select algorithms, see [Firmware/Tests/test_runner.cpp](Firmware/Tests/test_runner.cpp)
 * Added support for Flylint VSCode Extension for static code analysis
 * Using an STM32F405 .svd file allows CortexDebug to view registers during debugging
 * Added scripts for building via docker.
-* Brake resistor logic now attempts to clamp voltage according to `odrv.config.dc_bus_overvoltage_ramp_start` and `odrv.config.dc_bus_overvoltage_ramp_end`
 
 ### Changed
 * Changed ratiometric `motor.config.current_lim_tolerance` to absolute `motor.config.current_lim_margin`
-* Moved `controller.vel_ramp_enable` into `controller.config`.
+* Moved `controller.vel_ramp_enable` to INPUT_MODE_VEL_RAMP.
 * Anticogging map is temporarily forced to 0.1 deg precision, but saves with the config
 * Some Encoder settings have been made read-only
 * Cleaned up VSCode C/C++ Configuration settings on Windows with recursive includePath
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/low_level.cpp b/Firmware/MotorControl/low_level.cpp
index 8236d39e..1140ca1e 100644
--- a/Firmware/MotorControl/low_level.cpp
+++ b/Firmware/MotorControl/low_level.cpp
@@ -214,6 +214,7 @@ void start_adc_pwm() {
     // Ensure that debug halting of the core doesn't leave the motor PWM running
     __HAL_DBGMCU_FREEZE_TIM1();
     __HAL_DBGMCU_FREEZE_TIM8();
+    __HAL_DBGMCU_FREEZE_TIM13();
 
     start_pwm(&htim1);
     start_pwm(&htim8);
diff --git a/Firmware/MotorControl/motor.cpp b/Firmware/MotorControl/motor.cpp
index 39115713..223aba1c 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;
         }
 
@@ -485,22 +484,11 @@ bool Motor::update(float current_setpoint, float phase, float phase_vel) {
     float pwm_phase = phase + 1.5f * current_meas_period * phase_vel;
 
     // Execute current command
-    // TODO: move this into the mot
-    if (config_.motor_type == MOTOR_TYPE_HIGH_CURRENT) {
-        if(!FOC_current(id, iq, phase, pwm_phase)){
-            return false;
-        }
-    } else if (config_.motor_type == MOTOR_TYPE_ACIM) {
-        if(!FOC_current(id, iq, phase, pwm_phase)){
-            return false;
-        }
-    } else if (config_.motor_type == MOTOR_TYPE_GIMBAL) {
-        //In gimbal motor mode, current is reinterptreted as voltage.
-        if(!FOC_voltage(id, iq, pwm_phase))
-            return false;
-    } else {
-        set_error(ERROR_NOT_IMPLEMENTED_MOTOR_TYPE);
-        return false;
+    switch(config_.motor_type){
+        case MOTOR_TYPE_HIGH_CURRENT: return FOC_current(id, iq, phase, pwm_phase); break;
+        case MOTOR_TYPE_ACIM: return FOC_current(id, iq, phase, pwm_phase); break;
+        case MOTOR_TYPE_GIMBAL: return FOC_voltage(id, iq, pwm_phase); break;
+        default: set_error(ERROR_NOT_IMPLEMENTED_MOTOR_TYPE); return false; break;
     }
     return true;
 }