[ozrien]

So which strategy did you use to wire limit switches? Are you letting the Talon do it internally or doing it yourself (like in Peter's example post).

I know the switches are wired to the Talon, but does it say "Normally Open" in the web-based drop down. You' mentioned "Normally Open" config but I wasn't clear if you just meant the wiring.

Might be easier to just post the code and screen shot the self-test when this problem occcurs.

I can tell you the firmware in the Talon definitely does not look at FWD limit switch when you are asking for REV throttle, and vice versa. There are several teams that rely on this to work.

The motor stutter tells me the problem is something else. The motor response should be consistent, almost sounds like a bouncing signal (loose cable or broken limit switch). Or could be code (post it?).

Who is calc'ing the Talon's throttle. Are you doing VoltagePerc mode and controlling throttle directly? Or are you using the Talon's closed-loop modes when the problem symptom occurs?