[Iceman1330]

Ok, here is the custom circuit exactly.

ASCII Art included
................................................{l imit Switch}.................
.................................................. ......||.........................
................................. ______[>]___[Spike]___..................
................................/..................................\............... .
.. _________{}=====<................................. ....>---{CIM}-|
..|......._____...............\_______[<]__[Spike]___/................|
..|.......|......|................................ .......||........................|
-+---(-)-.....|.................................{limit switch}...............|
| BATT..|....|______________________________________ ___|
|______|.......................................... ...................................

[>] are diodes
The limit switches are triggered by the movement of swinging arms and the overall purpose of the circuit is to stop unwanted momentum swinging by a large four bar arm system. I.e. once reaching its lower extent the limit switch throws one of the relays and prevents the flow of current in the direction that the motor wishes to travel, therefore reducing the "hammer" effect of the arm.