[gixxy]

Do you know how to assign a command to a JoystickButton in the OI?

You can do the same using a DigitalIOButton as well.

Button limitSwitch = new DigitalIOButton(RobotMap.limitSwitch);

and then assign it a command

limitSwitch.whenPressed(new ReverseMotor());

so then you just have the command reverse the motor.

then do the same with the second limit switch to stop the motor.

then you use a JoystickButton triggered command to move the motor back forward.

If you don't really understand the Command Based Template then I suggest you watch these 6 videos by Brad Miller on the topic(they total about an hour): FRC 2012 Rapidly creating a robot programl