//從Roborio的角位讀取limit switch
DigitalInput toplimitSwitch = new DigitalInput(0); 
DigitalInput bottomlimitSwitch = new DigitalInput(1);

PWMVictorSPX motor = new PWMVictorSPX(0);
Joystick joystick = new Joystick(0);

@Override
public void teleopPeriodic() {
    setMotorSpeed(joystick.getRawAxis(2));
}

public void setMotorSpeed(double speed) {
    if (speed > 0) {
        if (toplimitSwitch.get()) {
            // 上面的limit switch被壓到
            motor.set(0); //馬達的速度設為0
        } else {
            // 沒有碰到limit switch
            motor.set(speed); //馬達的速度設為預設的速度
        }
    } else {
        if (bottomlimitSwitch.get()) {
            // 下面的limit switch被壓到
            motor.set(0);
        } else {
            motor.set(speed);
        }
    }
}