[Greg McKaskle]

The limit switch is a simple wrapper over the DIO functions that were already available. They were added primarily for simulation. In order for a simulated robot to be able to identify how a digital line should toggle when something moves, it is useful to identify the switch, tell the physics engine where it is, how it is wired, etc. This is also true of the potentiometer. It is a simple wrapper over AI.

So the FPGA is doing the low level read and filter of the switch, but it is the RT side that is responsible for modifying a motor or other actuator in response. There is no new way to "tie things together" in the FPGA.

Greg McKaskle