Merge pull request #157 from project-march/improve/effort-limit

Improve the effort limit

Author: Roelemans

march_hardware/src/IMotionCube.cpp

@@ -153,9 +153,9 @@ void IMotionCube::actuateTorque(int targetTorque)
   ROS_ASSERT_MSG(this->actuationMode == ActuationMode::torque, "trying to actuate torque, while actuationmode = %s",
                  this->actuationMode.toString().c_str());
 
-  // The targetTorque must not exceed the value of 27300 IU, this is 25 A. This value could be increased in the future
-  // (to 30A) with good reasoning.
-  ROS_ASSERT_MSG(targetTorque < 27300, "Torque of %d is too high.", targetTorque);
+  // The targetTorque must not exceed the value of 23500 IU, this is slightly larger than the current limit of the
+  // linear joints defined in the urdf.
+  ROS_ASSERT_MSG(targetTorque < 23500, "Torque of %d is too high.", targetTorque);
 
   union bit16 targetTorqueStruct;
   targetTorqueStruct.i = targetTorque;