Bumper

Introduction

The Bumper is a mechanical switch that completes a circuit when pressed, allowing the robot to detect presses and releases.

Below is a list of all available methods:

Getters – Check if the Bumper Sensor is currently pressed.

• pressed – Returns whether the Bumper Sensor is being pressed.

Callback – Run code when the bumper is pressed or released.

• on_pressed – Registers a function to be called when the Bumper Sensor is pressed.

• on_released – Registers a function to be called when the Bumper Sensor is released.

Getters

pressed

pressed returns a Boolean indicating whether the Bumper Switch is currently being pressed. This can be used to check if the robot bumps into other objects.

• True – The Bumper Switch is being pressed.

• False – The Bumper Switch is not being pressed.

Usage:
bumper.pressed()

Parameters	Description
	This method has no parameters.

def main():
    # Stop when the Left Bumper is pressed
    drivetrain.drive(FORWARD)
    while True:
        if left_bumper.pressed():
            drivetrain.stop()
        wait(5, MSEC)

# VR threads — Do not delete
vr_thread(main)

Callback

on_pressed

on_pressed registers a function to be called when the Bumper Sensor is pressed.

Usage:
bumper.on_pressed(callback)

Parameters	Description
callback	A function that is previously defined to execute when the Bumper Sensor is being pressed.

def bumper_pressed():
    # Reverse when the bumper is pressed
    drivetrain.drive_for(REVERSE, 100, MM)
    drivetrain.stop()

def main():
    # Drive forward until the left bumper is pressed
    drivetrain.drive(FORWARD)
    left_bumper.on_pressed(bumper_pressed)

# VR threads — Do not delete
vr_thread(main)

on_released

on_released registers a function to be called when the Bumper Sensor is released.

Usage:
bumper.on_released(callback)

Parameters	Description
callback	A function that is previously defined to execute when the Bumper Sensor is being pressed.

def bumper_released():
    # Display a message
    brain.print("Bumper released!")

def main():
    # Hit and back away from an object
    left_bumper.on_released(bumper_released)
    drivetrain.drive_for(FORWARD, 600, MM)
    drivetrain.drive_for(REVERSE, 100, MM)

# VR threads — Do not delete
vr_thread(main)