/members-area/personalblogs/b/blog/posts/c-c-the-wimpy-robot-bumper-classHere is the Bumper Class with polling thread to read the bumpers asynchronously from the consumer (test main() in the same file) and my control-c handler that can call a class object's cancel function to kill the thread and clean up: (I have the feelen-USTelligent Community 12