Add current limiting on motors

[jkleiber]

Summary
Motors should have current limits enforced in software to prevent damage to our electronics. This should be worked after #22 adds the current limits to the parameters TOML file.

Work

• Add current limiting to motors

Verification

• CI passes
• Current limits are applied to the motors

[danielbrownmsm]

note: this is absolutely necessary for the neo550s, as they smoke easily without it
less so the other motors, so really we just need to throw this at the claw

[jkleiber]

@AbbeySieg This is related to #22 , and you can work both of these at the same time on a single new branch. Assigning this to you for now