diff --git a/stm32-modules/include/flex-stacker/flex-stacker/motor_task.hpp b/stm32-modules/include/flex-stacker/flex-stacker/motor_task.hpp
index 4f2cd95b..67cdaedb 100644
--- a/stm32-modules/include/flex-stacker/flex-stacker/motor_task.hpp
+++ b/stm32-modules/include/flex-stacker/flex-stacker/motor_task.hpp
@@ -96,10 +96,8 @@ class MotorTask {
         if (!engage.has_value()) {
             return true;
         }
-        if (engage.value()) {
-            return policy.enable_motor(id);
-        }
-        return policy.disable_motor(id);
+        return engage.value() ? policy.enable_motor(id)
+                              : policy.disable_motor(id);
     }
 
     template <MotorControlPolicy Policy>