diff --git a/wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp b/wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp
index 3a165e591e..ccbf83b3c0 100644
--- a/wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp
@@ -39,12 +39,20 @@ ElevatorSim::ElevatorSim(const DCMotor& gearbox, double gearing,
       m_maxHeight(maxHeight),
       m_gearing(gearing) {}
 
-bool ElevatorSim::HasHitLowerLimit(const Eigen::Matrix<double, 2, 1>& x) const {
-  return x(0) < m_minHeight.to<double>();
+bool ElevatorSim::WouldHitLowerLimit(units::meter_t elevatorHeight) const {
+  return elevatorHeight < m_minHeight;
 }
 
-bool ElevatorSim::HasHitUpperLimit(const Eigen::Matrix<double, 2, 1>& x) const {
-  return x(0) > m_maxHeight.to<double>();
+bool ElevatorSim::WouldHitUpperLimit(units::meter_t elevatorHeight) const {
+  return elevatorHeight > m_maxHeight;
+}
+
+bool ElevatorSim::HasHitLowerLimit() const {
+  return WouldHitLowerLimit(units::meter_t(m_y(0)));
+}
+
+bool ElevatorSim::HasHitUpperLimit() const {
+  return WouldHitUpperLimit(units::meter_t(m_y(0)));
 }
 
 units::meter_t ElevatorSim::GetPosition() const {
@@ -85,10 +93,10 @@ Eigen::Matrix<double, 2, 1> ElevatorSim::UpdateX(
       },
       currentXhat, u, dt);
   // Check for collision after updating x-hat.
-  if (HasHitLowerLimit(updatedXhat)) {
+  if (WouldHitLowerLimit(units::meter_t(updatedXhat(0)))) {
     return MakeMatrix<2, 1>(m_minHeight.to<double>(), 0.0);
   }
-  if (HasHitUpperLimit(updatedXhat)) {
+  if (WouldHitUpperLimit(units::meter_t(updatedXhat(0)))) {
     return MakeMatrix<2, 1>(m_maxHeight.to<double>(), 0.0);
   }
   return updatedXhat;
diff --git a/wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp b/wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp
index 926a18a57f..3b1e943b9b 100644
--- a/wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp
@@ -39,14 +39,20 @@ SingleJointedArmSim::SingleJointedArmSim(
           gearbox, gearing, armLength, minAngle, maxAngle, mass,
           simulateGravity, measurementStdDevs) {}
 
-bool SingleJointedArmSim::HasHitLowerLimit(
-    const Eigen::Matrix<double, 2, 1>& x) const {
-  return x(0) < m_minAngle.to<double>();
+bool SingleJointedArmSim::WouldHitLowerLimit(units::radian_t armAngle) const {
+  return armAngle < m_minAngle;
 }
 
-bool SingleJointedArmSim::HasHitUpperLimit(
-    const Eigen::Matrix<double, 2, 1>& x) const {
-  return x(0) > m_maxAngle.to<double>();
+bool SingleJointedArmSim::WouldHitUpperLimit(units::radian_t armAngle) const {
+  return armAngle > m_maxAngle;
+}
+
+bool SingleJointedArmSim::HasHitLowerLimit() const {
+  return WouldHitLowerLimit(units::radian_t(m_y(0)));
+}
+
+bool SingleJointedArmSim::HasHitUpperLimit() const {
+  return WouldHitUpperLimit(units::radian_t(m_y(0)));
 }
 
 units::radian_t SingleJointedArmSim::GetAngle() const {
@@ -96,9 +102,9 @@ Eigen::Matrix<double, 2, 1> SingleJointedArmSim::UpdateX(
       currentXhat, u, dt);
 
   // Check for collisions.
-  if (HasHitLowerLimit(updatedXhat)) {
+  if (WouldHitLowerLimit(units::radian_t(updatedXhat(0)))) {
     return MakeMatrix<2, 1>(m_minAngle.to<double>(), 0.0);
-  } else if (HasHitUpperLimit(updatedXhat)) {
+  } else if (WouldHitUpperLimit(units::radian_t(updatedXhat(0)))) {
     return MakeMatrix<2, 1>(m_maxAngle.to<double>(), 0.0);
   }
   return updatedXhat;
diff --git a/wpilibc/src/main/native/include/frc/simulation/ElevatorSim.h b/wpilibc/src/main/native/include/frc/simulation/ElevatorSim.h
index fdb25551aa..c7849452e1 100644
--- a/wpilibc/src/main/native/include/frc/simulation/ElevatorSim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/ElevatorSim.h
@@ -57,21 +57,35 @@ class ElevatorSim : public LinearSystemSim<2, 1, 1> {
               units::meter_t minHeight, units::meter_t maxHeight,
               const std::array<double, 1>& measurementStdDevs = {0.0});
 
+  /**
+   * Returns whether the elevator would hit the lower limit.
+   *
+   * @param elevatorHeight The elevator height.
+   * @return Whether the elevator would hit the lower limit.
+   */
+  bool WouldHitLowerLimit(units::meter_t elevatorHeight) const;
+
+  /**
+   * Returns whether the elevator would hit the upper limit.
+   *
+   * @param elevatorHeight The elevator height.
+   * @return Whether the elevator would hit the upper limit.
+   */
+  bool WouldHitUpperLimit(units::meter_t elevatorHeight) const;
+
   /**
    * Returns whether the elevator has hit the lower limit.
    *
-   * @param x The current elevator state.
    * @return Whether the elevator has hit the lower limit.
    */
-  bool HasHitLowerLimit(const Eigen::Matrix<double, 2, 1>& x) const;
+  bool HasHitLowerLimit() const;
 
   /**
    * Returns whether the elevator has hit the upper limit.
    *
-   * @param x The current elevator state.
    * @return Whether the elevator has hit the upper limit.
    */
-  bool HasHitUpperLimit(const Eigen::Matrix<double, 2, 1>& x) const;
+  bool HasHitUpperLimit() const;
 
   /**
    * Returns the position of the elevator.
diff --git a/wpilibc/src/main/native/include/frc/simulation/SingleJointedArmSim.h b/wpilibc/src/main/native/include/frc/simulation/SingleJointedArmSim.h
index 73d8bd1e0b..3fe42ba0fb 100644
--- a/wpilibc/src/main/native/include/frc/simulation/SingleJointedArmSim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/SingleJointedArmSim.h
@@ -62,21 +62,35 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 1> {
                       bool simulateGravity,
                       const std::array<double, 1>& measurementStdDevs = {0.0});
 
+  /**
+   * Returns whether the arm would hit the lower limit.
+   *
+   * @param armAngle The arm height.
+   * @return Whether the arm would hit the lower limit.
+   */
+  bool WouldHitLowerLimit(units::radian_t armAngle) const;
+
+  /**
+   * Returns whether the arm would hit the upper limit.
+   *
+   * @param armAngle The arm height.
+   * @return Whether the arm would hit the upper limit.
+   */
+  bool WouldHitUpperLimit(units::radian_t armAngle) const;
+
   /**
    * Returns whether the arm has hit the lower limit.
    *
-   * @param x The current arm state.
    * @return Whether the arm has hit the lower limit.
    */
-  bool HasHitLowerLimit(const Eigen::Matrix<double, 2, 1>& x) const;
+  bool HasHitLowerLimit() const;
 
   /**
    * Returns whether the arm has hit the upper limit.
    *
-   * @param x The current arm state.
    * @return Whether the arm has hit the upper limit.
    */
-  bool HasHitUpperLimit(const Eigen::Matrix<double, 2, 1>& x) const;
+  bool HasHitUpperLimit() const;
 
   /**
    * Returns the current arm angle.
@@ -100,7 +114,7 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 1> {
   units::ampere_t GetCurrentDraw() const override;
 
   /**
-   * Sets the input voltage for the elevator.
+   * Sets the input voltage for the arm.
    *
    * @param voltage The input voltage.
    */
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
index 12f2506362..cc271e21a5 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.java
@@ -127,26 +127,42 @@ public class ElevatorSim extends LinearSystemSim<N2, N1, N1> {
     m_maxHeight = maxHeightMeters;
   }
 
+  /**
+   * Returns whether the elevator would hit the lower limit.
+   *
+   * @param elevatorHeightMeters The elevator height.
+   * @return Whether the elevator would hit the lower limit.
+   */
+  public boolean wouldHitLowerLimit(double elevatorHeightMeters) {
+    return elevatorHeightMeters < this.m_minHeight;
+  }
+
+  /**
+   * Returns whether the elevator would hit the upper limit.
+   *
+   * @param elevatorHeightMeters The elevator height.
+   * @return Whether the elevator would hit the upper limit.
+   */
+  public boolean wouldHitUpperLimit(double elevatorHeightMeters) {
+    return elevatorHeightMeters > this.m_maxHeight;
+  }
+
   /**
    * Returns whether the elevator has hit the lower limit.
    *
-   * @param x The current elevator state.
    * @return Whether the elevator has hit the lower limit.
    */
-  @SuppressWarnings("ParameterName")
-  public boolean hasHitLowerLimit(Matrix<N2, N1> x) {
-    return x.get(0, 0) < this.m_minHeight;
+  public boolean hasHitLowerLimit() {
+    return wouldHitLowerLimit(getPositionMeters());
   }
 
   /**
    * Returns whether the elevator has hit the upper limit.
    *
-   * @param x The current elevator state.
    * @return Whether the elevator has hit the upper limit.
    */
-  @SuppressWarnings("ParameterName")
-  public boolean hasHitUpperLimit(Matrix<N2, N1> x) {
-    return x.get(0, 0) > this.m_maxHeight;
+  public boolean hasHitUpperLimit() {
+    return wouldHitUpperLimit(getPositionMeters());
   }
 
   /**
@@ -215,10 +231,10 @@ public class ElevatorSim extends LinearSystemSim<N2, N1, N1> {
             dtSeconds);
 
     // We check for collisions after updating x-hat.
-    if (hasHitLowerLimit(updatedXhat)) {
+    if (wouldHitLowerLimit(updatedXhat.get(0, 0))) {
       return VecBuilder.fill(m_minHeight, 0);
     }
-    if (hasHitUpperLimit(updatedXhat)) {
+    if (wouldHitUpperLimit(updatedXhat.get(0, 0))) {
       return VecBuilder.fill(m_maxHeight, 0);
     }
     return updatedXhat;
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 2a09d7d84f..c0ecc9bede 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
@@ -173,26 +173,42 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N1> {
     m_simulateGravity = simulateGravity;
   }
 
+  /**
+   * Returns whether the arm would hit the lower limit.
+   *
+   * @param currentAngleRads The current arm height.
+   * @return Whether the arm would hit the lower limit.
+   */
+  public boolean wouldHitLowerLimit(double currentAngleRads) {
+    return currentAngleRads < this.m_minAngle;
+  }
+
+  /**
+   * Returns whether the arm would hit the upper limit.
+   *
+   * @param currentAngleRads The current arm height.
+   * @return Whether the arm would hit the upper limit.
+   */
+  public boolean wouldHitUpperLimit(double currentAngleRads) {
+    return currentAngleRads > this.m_maxAngle;
+  }
+
   /**
    * Returns whether the arm has hit the lower limit.
    *
-   * @param x The current arm state.
    * @return Whether the arm has hit the lower limit.
    */
-  @SuppressWarnings("ParameterName")
-  public boolean hasHitLowerLimit(Matrix<N2, N1> x) {
-    return x.get(0, 0) < this.m_minAngle;
+  public boolean hasHitLowerLimit() {
+    return wouldHitLowerLimit(getAngleRads());
   }
 
   /**
    * Returns whether the arm has hit the upper limit.
    *
-   * @param x The current arm state.
    * @return Whether the arm has hit the upper limit.
    */
-  @SuppressWarnings("ParameterName")
-  public boolean hasHitUpperLimit(Matrix<N2, N1> x) {
-    return x.get(0, 0) > this.m_maxAngle;
+  public boolean hasHitUpperLimit() {
+    return wouldHitUpperLimit(getAngleRads());
   }
 
   /**
@@ -227,7 +243,7 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N1> {
   }
 
   /**
-   * Sets the input voltage for the elevator.
+   * Sets the input voltage for the arm.
    *
    * @param volts The input voltage.
    */
@@ -288,10 +304,10 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N1> {
             dtSeconds);
 
     // We check for collision after updating xhat
-    if (hasHitLowerLimit(updatedXhat)) {
+    if (wouldHitLowerLimit(updatedXhat.get(0, 0))) {
       return VecBuilder.fill(m_minAngle, 0);
     }
-    if (hasHitUpperLimit(updatedXhat)) {
+    if (wouldHitUpperLimit(updatedXhat.get(0, 0))) {
       return VecBuilder.fill(m_maxAngle, 0);
     }
     return updatedXhat;