code: def limit_acceleration(self, accel):
          
          if accel >= 143:
              raise ValueError("Acceleration limit cannot exceed 143. You provided: %s" % str(accel))
          if accel <= 0:
              raise ValueError("Acceleration limit must be positive. You provided: %s" % str(accel))
          self._set_as_int(Addr.AccelLimit, accel)
docs: Sets the acceleration limit on the Grizzly. The max value is
          143. Units are change in pwm per millisecond. Internally, the pwm is in
          the range [-0x7f, 0x7f] or [-127, 127]. So in one millisecond the maximum
          acceleration limit possible is 127 - -127 = 142. The internal default
          value is 4*.
          *Note: subject to change.