[Phoenix Spud]

This confused my team for long time as well, finally after looking on here for a bit, we got it. Imagine you robot without bumpers--you should draw a 2D box to represent your robot, this will help you see it. Then draw another box 1" (In reality, this is a lot bigger, but you will get the point.) bigger around your robot, this is the Bumper Perimeter. Imagine you have a MECHANISM that is below this area. It can reach "outside" of the robot, to the Bumper Perimeter for up to 2 seconds, then you must wait 2 seconds before extending again. This all assumes you are in "normal configuration," not "finale configuration."

I hope that helps!