I think if you *know* you won't be able to get all the reps then drop the weight. If it's going to be close, go with the same weight and just finish the last couple reps like you did.
I would just be careful to not impose any limits on what you're doing, and dropping the weight just b/c you think you won't be able to get it

When in doubt I alway add a few pounds since it's easy to finish the set the way you did or drop it on the next set. Nothing irks me more than blowing through a set and feeling like I should've had more weight :p