BUMPER_DEADTIME is probably not activated in latest sunray releases and can be ignored in configuration....
No, i am wrong XD themanfrommoon is absolutely right.
if ( (millis() > linearMotionStartTime + BUMPER_DEADTIME) && (bumper.obstacle()) ){
CONSOLE.println("bumper obstacle!");
statMowBumperCounter++;
triggerObstacle();
return true;
}
After a motion starttime, Bumper is allowed to trigger again after you add the BUMPER_DEADTIME to the linearMotionStartTime