#include "component.hpp"
#include <algorithm>
namespace asw {
ActuatorCommand make_command(double steering, double speed, double steering_limit, double speed_limit, bool safe) {
  if (!safe) return {0, 0, false};
  return {std::clamp(steering, -steering_limit, steering_limit), std::clamp(speed, 0.0, speed_limit), true};
}
}