Brings joint limits back inside what the servos can actually do
Robots generated before this version declare joint limits the hardware
cannot meet: 333 or 360 degree_per_second, and 2160
degree_per_square_second. An STS3215 tops out near 300°/s, and clamps its
acceleration register at 439.5°/s² however much more is written.
That is no longer harmless. BB.Servo.Feetech.Actuator reads the
acceleration register back at startup and refuses to run when the servo
kept something other than what it was given, so an arm generated by an
older installer will not boot.
This rewrites velocity and acceleration in the limit block of every
joint driven by a BB.Servo.Feetech.Actuator, leaving anything already
inside the hardware's reach alone. Joints driven by something else are not
touched, so a robot mixing servo families keeps the rest of its limits.
Only degree_per_second and degree_per_square_second are rewritten,
which is what the installer emits. A limit written in other units is
reported rather than converted.