[swraight]

We are also using a Talon SRX to control our Dart, and we have both the potentiometer and the limit switches connected to the data port on the Talon. I'm sorry that I cannot help with the specifics of the code - I'm just a knuckle-dragging mechanical guy - but I do know that it is possible to wire it as such.

We've also found that by roughening the shaft of the lead screw and using red loctite on the shaft collars (between the collar and the shaft, not on the clamp screw of the shaft collar) we have been able to absorb several high-speed impacts against the hardstops without jamming the actuator. We are still using software to limit the speed of the actuator as we approach our limit switches, but it's good to know that a small glitch won't result in us doing a complete tear-down of the Dart.