text: /*----------------------------------------------------------------------------*/
  /* Copyright (c) FIRST 2016. All Rights Reserved.                             */
  /* Open Source Software - may be modified and shared by FRC teams. The code   */
  /* must be accompanied by the FIRST BSD license file in the root directory of */
  /* the project.                                                               */
  /*----------------------------------------------------------------------------*/
  
  #pragma once
  
  #include "switch.h"
  
  #ifdef _WIN32
  	#include <Winsock2.h>
  #endif
  #include <gazebo/physics/physics.hh>
  #include <gazebo/gazebo.hh>
  
  using namespace gazebo;
  
  class InternalLimitSwitch : public Switch {
  public:
    InternalLimitSwitch(physics::ModelPtr model, sdf::ElementPtr sdf);
    ~InternalLimitSwitch();
  
    /// \brief Returns true when the switch is triggered.
    virtual bool Get();
  
  private:
    physics::JointPtr joint;
    double min, max;
    bool radians;
  };
  