diff --git a/wpilibc/wpilibC++Devices/include/CANTalon.h b/wpilibc/wpilibC++Devices/include/CANTalon.h
index 85552f8e83..c720ea0cc7 100644
--- a/wpilibc/wpilibC++Devices/include/CANTalon.h
+++ b/wpilibc/wpilibC++Devices/include/CANTalon.h
@@ -100,6 +100,28 @@ public:
 	virtual void ConfigLimitMode(LimitMode mode) override;
 	virtual void ConfigForwardLimit(double forwardLimitPosition) override;
 	virtual void ConfigReverseLimit(double reverseLimitPosition) override;
+	/**
+	 * Change the fwd limit switch setting to normally open or closed.
+	 * Talon will disable momentarilly if the Talon's current setting
+	 * is dissimilar to the caller's requested setting.
+	 *
+	 * Since Talon saves setting to flash this should only affect
+	 * a given Talon initially during robot install.
+	 *
+	 * @param normallyOpen true for normally open.  false for normally closed.
+	 */
+	void ConfigFwdLimitSwitchNormallyOpen(bool normallyOpen);
+	/**
+	 * Change the rev limit switch setting to normally open or closed.
+	 * Talon will disable momentarilly if the Talon's current setting
+	 * is dissimilar to the caller's requested setting.
+	 *
+	 * Since Talon saves setting to flash this should only affect
+	 * a given Talon initially during robot install.
+	 *
+	 * @param normallyOpen true for normally open.  false for normally closed.
+	 */
+	void ConfigRevLimitSwitchNormallyOpen(bool normallyOpen);
 	virtual void ConfigMaxOutputVoltage(double voltage) override;
 	virtual void ConfigFaultTime(float faultTime) override;
 	virtual void SetControlMode(ControlMode mode);
diff --git a/wpilibc/wpilibC++Devices/src/CANTalon.cpp b/wpilibc/wpilibC++Devices/src/CANTalon.cpp
index 907587eba4..8ff1123e0d 100644
--- a/wpilibc/wpilibC++Devices/src/CANTalon.cpp
+++ b/wpilibc/wpilibC++Devices/src/CANTalon.cpp
@@ -1068,7 +1068,40 @@ void CANTalon::ConfigForwardLimit(double forwardLimitPosition)
 		wpi_setErrorWithContext(status, getHALErrorMessage(status));
 	}
 }
-
+/**
+ * Change the fwd limit switch setting to normally open or closed.
+ * Talon will disable momentarilly if the Talon's current setting
+ * is dissimilar to the caller's requested setting.
+ *
+ * Since Talon saves setting to flash this should only affect
+ * a given Talon initially during robot install.
+ *
+ * @param normallyOpen true for normally open.  false for normally closed.
+ */
+void CANTalon::ConfigFwdLimitSwitchNormallyOpen(bool normallyOpen)
+{
+	CTR_Code status = m_impl->SetParam(CanTalonSRX::eOnBoot_LimitSwitch_Forward_NormallyClosed, normallyOpen ? 0 : 1);
+	if(status != CTR_OKAY) {
+		wpi_setErrorWithContext(status, getHALErrorMessage(status));
+	}
+}
+/**
+ * Change the rev limit switch setting to normally open or closed.
+ * Talon will disable momentarilly if the Talon's current setting
+ * is dissimilar to the caller's requested setting.
+ *
+ * Since Talon saves setting to flash this should only affect
+ * a given Talon initially during robot install.
+ *
+ * @param normallyOpen true for normally open.  false for normally closed.
+ */
+void CANTalon::ConfigRevLimitSwitchNormallyOpen(bool normallyOpen)
+{
+	CTR_Code status = m_impl->SetParam(CanTalonSRX::eOnBoot_LimitSwitch_Reverse_NormallyClosed, normallyOpen ? 0 : 1);
+	if(status != CTR_OKAY) {
+		wpi_setErrorWithContext(status, getHALErrorMessage(status));
+	}
+}
 /**
  * TODO documentation (see CANJaguar.cpp)
  */
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java
index 5b74a8d85f..055350acc0 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java
@@ -810,6 +810,34 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
     int mask = 4 + (forward ? 1 : 0) * 2 + (reverse ? 1 : 0);
     m_impl.SetOverrideLimitSwitchEn(mask);
   }
+  /**
+   * Configure the fwd limit switch to be normally open or normally closed.
+   * Talon will disable momentarilly if the Talon's current setting
+   * is dissimilar to the caller's requested setting.
+   *
+   * Since Talon saves setting to flash this should only affect
+   * a given Talon initially during robot install.
+   *
+   * @param normallyOpen true for normally open.  false for normally closed.
+   */
+  public void ConfigFwdLimitSwitchNormallyOpen(boolean normallyOpen)
+  {
+	SWIGTYPE_p_CTR_Code status = m_impl.SetParam(CanTalonSRX.param_t.eOnBoot_LimitSwitch_Forward_NormallyClosed,normallyOpen ? 0 : 1);
+  }
+  /**
+   * Configure the rev limit switch to be normally open or normally closed.
+   * Talon will disable momentarilly if the Talon's current setting
+   * is dissimilar to the caller's requested setting.
+   *
+   * Since Talon saves setting to flash this should only affect
+   * a given Talon initially during robot install.
+   *
+   * @param normallyOpen true for normally open.  false for normally closed.
+   */
+  public void ConfigRevLimitSwitchNormallyOpen(boolean normallyOpen)
+  {
+	SWIGTYPE_p_CTR_Code status = m_impl.SetParam(CanTalonSRX.param_t.eOnBoot_LimitSwitch_Reverse_NormallyClosed,normallyOpen ? 0 : 1);
+  }
 
   public void enableBrakeMode(boolean brake) {
     m_impl.SetOverrideBrakeType(brake ? 2 : 1);