Disable inverter+speed limit

[r-kirkbride]

Changes

• Turn off inverter when speed low and no torque requested.
• Limit torque at high speeds

Checklist

• [X] Code has been tested on STM32 hardware.
• [X] Changes do not generate any new compiler warnings.
• [X] Code has been formatted using trunk fmt.
• [x] Commit messages follow the Conventional Commits specification.