coding for limit switch

[windell747]

I'm attempting to write some code for turret aiming and I am using two limit switches to limit the swing of the turret. Currently the turret uses the camera to aim at the goal using a PID controller and there are no limit switches.

I don't know how to write the code that will cause the motor to move in the opposite direction and not confuse the PID controller. The code is written such that if the target moves out of the field of view of the camera, the turrnet will rotate in the direction the target was last seen.

Will the PID controller get confused if I force the motor to spin in the opposite direction after hitting the limit switch?

I also don't know how write the code to allow the limit switch to be let go before evaluating the switches again.

We are using labview.

I attached what I already have written for that section of code. I just put in a timer to make the motor move in the opposite direction for a certain amount of time assuming that the switch will be let go by then. I would like to do this better than I already have done. Any suggestions? Thanks!