update amc, amcfoc lego and template

[SanLordKevin]

update amc, amcfoc lego configuration files and fix comment of template file

[gemini-code-assist]

Summary of Changes

Hello @SanLordKevin, I'm Gemini Code Assist¹! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

This pull request focuses on updating and standardizing the configuration files for the 'amc' and 'amcfoc' experimental LEGO setups. It introduces new parameters for mechanical and motor control components, adjusts existing electronic settings, and includes a firmware version update. Additionally, it refines the explanatory diagrams within a core template file to enhance clarity and documentation.

Highlights

• Configuration Updates for AMC and AMCFOC: The electronic, mechanical, and motor control configuration files for both 'amc' and 'amcfoc' LEGO setups have been updated with new parameters and adjusted values.
• New Parameters Introduced: New parameters such as 'Kbemf' in mechanical configurations and a 'TIMEOUTS' group with various control timeouts in motor control configurations have been added to standardize and enhance setup behavior.
• Firmware Version Bump: The minor firmware version for the 'amc' motor control service has been updated from '9 2' to '12 3'.
• Template Comment Refinement: Cosmetic changes were made to the ASCII art diagrams within the comments of the iCub template file, improving the visual representation of synchronized and best-effort execution modes.

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[SanLordKevin]

cc @marcoaccame

[pattacini]

/gemini review

[gemini-code-assist]

Code Review

This pull request updates various XML configuration files for the amc and amcfoc lego setups, and also fixes an ASCII art diagram in a template file's comments. The configuration changes include updating board settings, adding new parameters, increasing timeout values, and enabling more detailed logging, which aligns with the goal of updating the setups. My review focuses on ensuring consistency and cleanliness in the XML files. I've identified a couple of minor whitespace issues that could be addressed to improve maintainability.