fixed typo and hw limits (#270)

Author: davidetome

experimentalSetups/mc4plus-loco-project/hardware/mechanicals/devmc4plusloco-mc4plus01-mec.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
 
-<<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="iCubExpSetupMC4PLUSloco" build="1">
+<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="iCubExpSetupMC4PLUSloco" build="1">
     <group name="GENERAL">
         <param name="MotioncontrolVersion"> 6 </param>
         <param name="Joints"> 4 </param> <!-- the number of joints of the robot part -->
@@ -21,8 +21,8 @@
     </group>
 
     <group name="LIMITS">
-        <param name="hardwareJntPosMax">         90          90             100             100         </param>
-        <param name="hardwareJntPosMin">        -90         -90            -100             -100          </param> 
+        <param name="hardwareJntPosMax">         180          180             100             100         </param>
+        <param name="hardwareJntPosMin">        -180         -180            -100             -100          </param> 
         <param name="rotorPosMax">              0           0               0              0           </param>
         <param name="rotorPosMin">              0           0               0              0           </param> 
     </group>