diff --git a/.cargo/config.toml b/.cargo/config.toml
index 008321d..c909f85 100644
--- a/.cargo/config.toml
+++ b/.cargo/config.toml
@@ -20,8 +20,6 @@ rustflags = [
   #   uncomment the next line if you wish to enable it
   # "-Z", "trap-unreachable=no",
   "-C",
-  "inline-threshold=5",
-  "-C",
   "no-vectorize-loops",
 ]
 
diff --git a/Cargo.toml b/Cargo.toml
index 7fb365a..8ec1be9 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -24,7 +24,7 @@ micromath = { version = "2.1", features = ["vector"] }
 mpu6050 = { git = "https://github.com/michaelkamprath/mpu6050.git", branch = "micromath", features = [
     "defmt",
 ] }
-embedded-alloc = "0.5"
+embedded-alloc = "0.6"
 adafruit-lcd-backpack = { version = "0.1", features = ["defmt"] }
 ini_core = "0.2"
 
diff --git a/src/main.rs b/src/main.rs
index f99adfb..3e8a7a2 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -27,7 +27,7 @@ use rp_pico as bsp;
 
 extern crate alloc;
 
-use embedded_alloc::Heap;
+use embedded_alloc::TlsfHeap as Heap;
 
 #[global_allocator]
 static HEAP: Heap = Heap::empty();
diff --git a/src/robot.rs b/src/robot.rs
index 11ffa9a..35567d0 100644
--- a/src/robot.rs
+++ b/src/robot.rs
@@ -371,7 +371,7 @@ where
     /// Returns a duty value normalized to the max duty of the motor.
     /// The duty is clamped to the range [0, 1].
     fn noramlize_duty(&self, duty: f32) -> u16 {
-        (duty.max(0.0).min(1.0) * self.motors.enable_pin_a().get_max_duty() as f32) as u16
+        (duty.clamp(0.0, 1.0) * self.motors.enable_pin_a().get_max_duty() as f32) as u16
     }
 
     /// returns true if the button 1 is newly pressed
diff --git a/src/system/data.rs b/src/system/data.rs
index 00ae770..7ce1a38 100644
--- a/src/system/data.rs
+++ b/src/system/data.rs
@@ -66,8 +66,8 @@ where
     ///
     /// * `f` - The `defmt::Formatter` object that the graph should be printed to.
     /// * `value` - A function that gets called on each row in the data table to determine the value from that row to plot.
-    /// This function must take a reference to the row type and return an `i32`. The mapping of the desired
-    /// row value to the `i32` is for display purposes.
+    ///             This function must take a reference to the row type and return an `i32`. The mapping of the desired
+    ///             row value to the `i32` is for display purposes.
     pub fn plot(&self, f: &mut defmt::Formatter<'_>, value: fn(&T) -> i32) {
         // first we need to scan through the data to find the range of
         // values that we need to plot