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fix: deprecate Bicycle block's vlim/slim kwargs instead of erroring by petercorke · Pull Request #596 · petercorke/robotics-toolbox-python · GitHub

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fix: deprecate Bicycle block's vlim/slim kwargs instead of erroring - #596

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petercorke merged 2 commits into
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fix/bicycle-block-deprecation
Aug 16, 2026
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fix: deprecate Bicycle block's vlim/slim kwargs instead of erroring#596
petercorke merged 2 commits into
mainfrom
fix/bicycle-block-deprecation

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petercorke commented Aug 16, 2026

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Summary

  • The bdsim Bicycle block's vlim/slim kwargs were renamed to speed_max/steer_max in df5529f (2021) with no deprecation shim -- any diagram or script still using the old names hits an opaque BlockCreationError from bdsim's block-creation wrapper instead of a clear signal to update.
  • Restores the old kwargs as a deprecated alias: passing vlim/slim now emits a DeprecationWarning and maps onto speed_max/steer_max.
  • Found via RVC3-python's driveconfig.py (book Fig 4.14), which still used the pre-2021 kwargs and was failing outright.

Test plan

  • pytest tests/test_blocks.py tests/test_mobile.py -- 39 passed, 6 skipped
  • New test_bicycle_vlim_slim_deprecated asserts the warning fires and values map through correctly
  • Verified RVC3-python/RVC3/models/driveconfig.py runs end-to-end against this branch (previously failed with BlockCreationError)

fix: deprecate Bicycle block's vlim/slim kwargs instead of erroring
8d7449c 
vlim/slim were silently renamed to speed_max/steer_max in df5529f
(2021) with no back-compat shim, so any existing diagram or script
using the old names now hits an unexplained BlockCreationError
instead of a clear deprecation warning.

codecov Bot commented Aug 16, 2026 •
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Codecov Report

❌ Patch coverage is 0% with 9 lines in your changes missing coverage. Please review.
✅ Project coverage is 0.00%. Comparing base (47bc2cb) to head (1ee2c2e).

Files with missing lines Patch % Lines
src/roboticstoolbox/blocks/mobile.py 0.00% 9 Missing ⚠️
Additional details and impacted files 
@@          Coverage Diff          @@
##            main    #596   +/-   ##
=====================================
  Coverage   0.00%   0.00%           
=====================================
  Files        142     142           
  Lines      13882   13891    +9     
=====================================
- Misses     13882   13891    +9

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This was referenced Aug 16, 2026
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petercorke merged commit 8f60b54 into main Aug 16, 2026
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