[shindigo]

Hmm - could be that the roboRIO reading a DI will be faster than roboRIO asking CAN to read the limit switch.

One interesting observation since we got this working: the CANTalon shuts off the motor auto-magically when the limits switches are reached. I expect this is reacting faster than Java could switch it off.

The limit switches can be disabled, but not sure if that just disables the auto-shutoff of the motor or disables your ability to read the switch.

Clearly much more to be learned with the CANTalons - and the JavaDocs are not even fully generated yet - so some things are just trial and error.