[wpilib] ElevatorSim: Fix WouldHitLimit methods (#5057)

wpilibsuite · Feb 5, 2023 · b43ec87 · b43ec87
1 parent 19267be
commit b43ec87
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp b/wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp
@@ -41,11 +41,11 @@ ElevatorSim::ElevatorSim(const DCMotor& gearbox, double gearing,
       m_simulateGravity(simulateGravity) {}
 
 bool ElevatorSim::WouldHitLowerLimit(units::meter_t elevatorHeight) const {
-  return elevatorHeight < m_minHeight;
+  return elevatorHeight <= m_minHeight;
 }
 
 bool ElevatorSim::WouldHitUpperLimit(units::meter_t elevatorHeight) const {
-  return elevatorHeight > m_maxHeight;
+  return elevatorHeight >= m_maxHeight;
 }
 
 bool ElevatorSim::HasHitLowerLimit() const {

diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.java
@@ -162,7 +162,7 @@ public ElevatorSim(
    * @return Whether the elevator would hit the lower limit.
    */
   public boolean wouldHitLowerLimit(double elevatorHeightMeters) {
-    return elevatorHeightMeters < this.m_minHeight;
+    return elevatorHeightMeters <= this.m_minHeight;
   }
 
   /**
@@ -172,7 +172,7 @@ public boolean wouldHitLowerLimit(double elevatorHeightMeters) {
    * @return Whether the elevator would hit the upper limit.
    */
   public boolean wouldHitUpperLimit(double elevatorHeightMeters) {
-    return elevatorHeightMeters > this.m_maxHeight;
+    return elevatorHeightMeters >= this.m_maxHeight;
   }
 
   /**