[ozrien]

~2.5v is about right. That's just how the micro works. That's high enough.

You can try pull ups if you want, but it sounds like a harness issue.

So the self test will tell you what's going on. Assert each limit switch and check the io values in the self test while throttling. Also you can use the sticky faults to determine which fault is occurring. Double click self test button to clear them.

You can also use the programming api to instrument the Io values, and to potentially implement your own limit switch logic.