public void Setup()
{
TalonSRX armTalon = (TalonSRX)_gearBox.MasterMotorController;
armTalon.SetInverted(false);
armTalon.SetStatusFramePeriod(StatusFrame.Status_1_General_, 10); //Send updates every 10ms instead of 10ms
armTalon.SetStatusFramePeriod(StatusFrameEnhanced.Status_8_PulseWidth, 1);
armTalon.SetSensorPhase(true); //reversed sensor
armTalon.ConfigForwardLimitSwitchSource(LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyClosed);
armTalon.ConfigReverseLimitSwitchSource(LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyClosed);
armTalon.ConfigClearPositionOnLimitR(false, 10); //enable on reverse limit
armTalon.ConfigClearPositionOnLimitF(false, 10);
}