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

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This commit is contained in:
Nick Hadley
2023-02-05 14:58:53 -05:00
committed by GitHub
parent 19267bef0c
commit b43ec87f57
2 changed files with 4 additions and 4 deletions
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4
wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp
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@@ -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 {

4
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.java
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@@ -162,7 +162,7 @@ public class ElevatorSim extends LinearSystemSim<N2, N1, N1> {
* @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 class ElevatorSim extends LinearSystemSim<N2, N1, N1> {
* @return Whether the elevator would hit the upper limit.
*/
public boolean wouldHitUpperLimit(double elevatorHeightMeters) {
return elevatorHeightMeters > this.m_maxHeight;
return elevatorHeightMeters >= this.m_maxHeight;
}
/**