[Alan Anderson]

In a procedural language like C++ or Java, the programming for a limit switch is simple. Just before you call the motor.Set() method, test to see whether the value to send to the motor is forward while the forward limit switch is active, and set the value to zero if so. If you also have a reverse limit switch, add another test to see whether the motor value is reverse while the reverse switch is active, and zero the value if so. Only then do you actually set the motor to that value.