It's multi-thread friendly, but there's no additional thread here. I think he's ok to do the Wait (small) at the moment - first things first ... an ability to know the switch is working right. I'd suggest not worrying about the motor control yet. I'd say use the smart dashboard to put the value of the limit switch up on the dashboard and see it flitter from 1 to 0 when it is closed and opened.
Code:
SmartDashboard::PutNumber("Switch1", limitswitch.Get());
...