A control and safety system for coordinating movement of multiple hydraulic cylinders to reciprocally rotate a truck-mounted refuse compacting arm. The system includes a logic board controller in communication with a cam and switch arrangement mechanically linked to the rotating arm. Signals from the switches indicate the position of the arm to the logic board which responds by operating directional control valves to regulate movement of the cylinders. A pressure switch is activated to rotate the arm in the opposite direction if the arm is prevented from reaching a limit switch.