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Re: Non-level bumpers
As I said before I am not the one that is going to be inspect your robot. The person inspecting your robot might not have passed calculus. You robot inspector might also reasonably expect you bumper segments to be discrete. As Dx approaches 0 you might run afoul on the rule that requires you to be able to change your bumpers in a reasonable amount of time. Also keeping your numbers in order, (that would have to span extremely small bumper segments), will be problematic.
As for an angled frame perimeter goes. In order to be on the frame perimeter, when you push your robot against a wall, the point must be able to touch the wall and be in the bumper zone. If a point cannot touch the wall, it is not on the frame perimeter. (absent the minor projections of course.)
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