Using a limit switch to limit motion

[ManicMechanic]

(This question is from a team member who's skittish about signing up for CD )

We use R/C tank commands to move an arm, but it damages the gears if we go past a certain point. Our design uses a limit switch to detect when we get near the breaking point. What we want to do is program the R/C controls to allow it to go in one direction (away from the breaking point), but not in the other direction (across the breaking point) when it hits the limit. That way, if someone keeps pushing the joysticks forward, it would stay in one place, then if they reverse the joy sticks, it moves back into the "safer" zone.

So far, the only thing we can get it to do when the limit switch detects the breaking point is to use motor commands to reverse the direction for a bit, then revert back to R/C. If someone keeps the joysticks pressed up, it goes up to the limit, then down, then wobbles up and down again, which we don't want. Is there any way to just disable the joysticks so it stops when it reaches the limit but comes back down when the joysticks go in reverse without wobbling?

We are using EasyC for Vex.