From 2c20fd0d092a1f13050e96826bb5387b6583977b Mon Sep 17 00:00:00 2001
From: amquake <noleetarrr@gmail.com>
Date: Fri, 4 Nov 2022 17:14:46 -0700
Subject: [PATCH] [wpilib] SingleJointedArmSim: Check angle equals limit on
 wouldHit (#4567)

---
 .../src/main/native/cpp/simulation/SingleJointedArmSim.cpp    | 4 ++--
 .../edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp b/wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp
index d70dfb561a..88e45c6186 100644
--- a/wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp
@@ -40,11 +40,11 @@ SingleJointedArmSim::SingleJointedArmSim(
           simulateGravity, measurementStdDevs) {}
 
 bool SingleJointedArmSim::WouldHitLowerLimit(units::radian_t armAngle) const {
-  return armAngle < m_minAngle;
+  return armAngle <= m_minAngle;
 }
 
 bool SingleJointedArmSim::WouldHitUpperLimit(units::radian_t armAngle) const {
-  return armAngle > m_maxAngle;
+  return armAngle >= m_maxAngle;
 }
 
 bool SingleJointedArmSim::HasHitLowerLimit() const {
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java
index c64a434da4..b6a5e85dfb 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java
@@ -177,7 +177,7 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N1> {
    * @return Whether the arm would hit the lower limit.
    */
   public boolean wouldHitLowerLimit(double currentAngleRads) {
-    return currentAngleRads < this.m_minAngle;
+    return currentAngleRads <= this.m_minAngle;
   }
 
   /**
@@ -187,7 +187,7 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N1> {
    * @return Whether the arm would hit the upper limit.
    */
   public boolean wouldHitUpperLimit(double currentAngleRads) {
-    return currentAngleRads > this.m_maxAngle;
+    return currentAngleRads >= this.m_maxAngle;
   }
 
   /**