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SingleJointedArmSim: Check angle equals limit on wouldHit #4567

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merged 2 commits into from
Nov 5, 2022
Merged

SingleJointedArmSim: Check angle equals limit on wouldHit #4567

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1b70e8e
check angle equals limit on wouldHit
amquake Nov 4, 2022
e18f108
check angle equals limit on wouldHit cpp
amquake Nov 4, 2022
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4 changes: 2 additions & 2 deletions wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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 {
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4 changes: 2 additions & 2 deletions wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java
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Expand Up @@ -177,7 +177,7 @@ public SingleJointedArmSim(
* @return Whether the arm would hit the lower limit.
*/
public boolean wouldHitLowerLimit(double currentAngleRads) {
return currentAngleRads < this.m_minAngle;
return currentAngleRads <= this.m_minAngle;
}

/**
Expand All @@ -187,7 +187,7 @@ public boolean wouldHitLowerLimit(double currentAngleRads) {
* @return Whether the arm would hit the upper limit.
*/
public boolean wouldHitUpperLimit(double currentAngleRads) {
return currentAngleRads > this.m_maxAngle;
return currentAngleRads >= this.m_maxAngle;
}

/**
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