[Al Skierkiewicz]

jdh,
I hope what you have gathered from the above posts is that only approved motor controllers (Victors, Jaguars, Talons, or Spikes) may be used to control motors. If you are using Jaguars, you may wire limit switches to the limit inputs on the Jaguar. Most people (as above) will recommend you wire a limit switch to a DIO on the digital sidecar and have it implement in software. This allows you to also pass the switch state to your driver's station if you want. It is also recommended that an electrical limit be backed up with a mechanical stop if the parts that move should be capable of exceeding the perimeter limit of the Frame + 20 inches.