diff --git a/wpilibcExamples/src/main/cpp/snippets/LimitSwitch/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/LimitSwitch/cpp/Robot.cpp
new file mode 100644
index 0000000000..7fc54ed6e1
--- /dev/null
+++ b/wpilibcExamples/src/main/cpp/snippets/LimitSwitch/cpp/Robot.cpp
@@ -0,0 +1,50 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include <frc/DigitalInput.h>
+#include <frc/Encoder.h>
+#include <frc/Joystick.h>
+#include <frc/TimedRobot.h>
+#include <frc/motorcontrol/PWMVictorSPX.h>
+
+/**
+ * Limit Switch snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/limit-switch.html
+ */
+class Robot : public frc::TimedRobot {
+ public:
+  void TeleopPeriodic() override { SetMotorSpeed(m_joystick.GetRawAxis(2)); }
+  void SetMotorSpeed(double speed) {
+    if (speed > 0) {
+      if (m_toplimitSwitch.Get()) {
+        // We are going up and top limit is tripped so stop
+        m_motor.Set(0);
+      } else {
+        // We are going up but top limit is not tripped so go at commanded speed
+        m_motor.Set(speed);
+      }
+    } else {
+      if (m_bottomlimitSwitch.Get()) {
+        // We are going down and bottom limit is tripped so stop
+        m_motor.Set(0);
+      } else {
+        // We are going down but bottom limit is not tripped so go at commanded
+        // speed
+        m_motor.Set(speed);
+      }
+    }
+  }
+
+ private:
+  frc::DigitalInput m_toplimitSwitch{0};
+  frc::DigitalInput m_bottomlimitSwitch{1};
+  frc::PWMVictorSPX m_motor{0};
+  frc::Joystick m_joystick{0};
+};
+
+#ifndef RUNNING_FRC_TESTS
+int main() {
+  return frc::StartRobot<Robot>();
+}
+#endif
diff --git a/wpilibcExamples/src/main/cpp/snippets/snippets.json b/wpilibcExamples/src/main/cpp/snippets/snippets.json
index ccf912c5db..27fd0e46a1 100644
--- a/wpilibcExamples/src/main/cpp/snippets/snippets.json
+++ b/wpilibcExamples/src/main/cpp/snippets/snippets.json
@@ -52,5 +52,15 @@
     ],
     "foldername": "EncoderHoming",
     "gradlebase": "cpp"
+  },
+  {
+    "name": "LimitSwitch",
+    "description": "Snippets of Limit Switch for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Digital Input"
+    ],
+    "foldername": "LimitSwitch",
+    "gradlebase": "cpp"
   }
 ]
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/limitswitch/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/limitswitch/Main.java
new file mode 100644
index 0000000000..19c1da0b45
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/limitswitch/Main.java
@@ -0,0 +1,25 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj.snippets.limitswitch;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
+ */
+public final class Main {
+  private Main() {}
+
+  /**
+   * Main initialization function. Do not perform any initialization here.
+   *
+   * <p>If you change your main robot class, change the parameter type.
+   */
+  public static void main(String... args) {
+    RobotBase.startRobot(Robot::new);
+  }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/limitswitch/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/limitswitch/Robot.java
new file mode 100644
index 0000000000..73c2b6c398
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/limitswitch/Robot.java
@@ -0,0 +1,51 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj.snippets.limitswitch;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
+
+/**
+ * Limit Switch snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/limit-switch.html
+ */
+public class Robot extends TimedRobot {
+  DigitalInput m_toplimitSwitch = new DigitalInput(0);
+  DigitalInput m_bottomlimitSwitch = new DigitalInput(1);
+  PWMVictorSPX m_motor = new PWMVictorSPX(0);
+  Joystick m_joystick = new Joystick(0);
+
+  @Override
+  public void teleopPeriodic() {
+    setMotorSpeed(m_joystick.getRawAxis(2));
+  }
+
+  /**
+   * Sets the motor speed based on joystick input while respecting limit switches.
+   *
+   * @param speed the desired speed of the motor, positive for up and negative for down
+   */
+  public void setMotorSpeed(double speed) {
+    if (speed > 0) {
+      if (m_toplimitSwitch.get()) {
+        // We are going up and top limit is tripped so stop
+        m_motor.set(0);
+      } else {
+        // We are going up but top limit is not tripped so go at commanded speed
+        m_motor.set(speed);
+      }
+    } else {
+      if (m_bottomlimitSwitch.get()) {
+        // We are going down and bottom limit is tripped so stop
+        m_motor.set(0);
+      } else {
+        // We are going down but bottom limit is not tripped so go at commanded speed
+        m_motor.set(speed);
+      }
+    }
+  }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/snippets.json b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/snippets.json
index 0f44d35eb3..75d78b3284 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/snippets.json
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/snippets.json
@@ -57,5 +57,16 @@
     "foldername": "encoderhoming",
     "gradlebase": "java",
     "mainclass": "Main"
+  },
+  {
+    "name": "LimitSwitch",
+    "description": "Snippets of Limit Switch for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Digital Input"
+    ],
+    "foldername": "limitswitch",
+    "gradlebase": "java",
+    "mainclass": "Main"
   }
 ]