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void setup() { // set all the pins to outputs pinMode(speed1, OUTPUT); pinMode(speed2, OUTPUT); pinMode(direction1, OUTPUT); pinMode(direction2, OUTPUT); } void loop() { // Both motors forwaard at 50% speed for 2 seconds digitalWrite(direction1, HIGH); digitalWrite(direction2, HIGH); analogWrite(speed1,128); analogWrite(speed2,128); delay(2000); stopMotor(); delay(1000); // stop // Left turn for 1 second digitalWrite(direction1, LOW); digitalWrite(direction2, HIGH); analogWrite(speed1, 128); analogWrite(speed2, 128); delay(1000); stopMotor(); delay(1000); // stop // Both motors forward at 50% speed for 2 seconds digitalWrite(direction1, HIGH); digitalWrite(direction2, HIGH); analogWrite(speed1,128); analogWrite(speed2,128); delay(2000); stopMotor(); delay(1000); // stop // rotate right at 25% speed digitalWrite(direction1, HIGH); digitalWrite(direction2, LOW); analogWrite(speed1, 64); analogWrite(speed2, 64); delay(2000); stopMotor(); delay(1000); // stop }

Rob Zanella Here s an example to further illustrate the benefits of automated controls An organization can create a role-based security model with automated provisioning (granting) of access based on predefined roles Suppose all employees who are in the marketing department automatically receive access to a particular marketing application Automation can be put in place to provision the access any time an employee is added to the marketing department and, conversely, to deprovision the access whenever anyone leaves the department By automating the provisioning process, you eliminate the need for a manual signature to approve the access request Access approvals (if required) can be done using automated workflow so that each manager can approve the request using their mouse rather than signing a paper form When all approvals have been done, access rights are granted on a real-time basis.

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In Listing 19-4, you should note a few things: config refers to the filename of the Struts configuration file (/WEB-INF/ struts-config.xml by default). ModuleConfig is a class that holds all configuration information contained in struts-config.xml. It has several variables, each of which holds information from a different part of struts-config.xml. For example, form bean declarations are held in a variable of ModuleConfig of type FormBeanConfig. Figure 19-2 shows how form bean data is stored in ModuleConfig through the use of FormBeanConfig and FormPropertyConfig. Form beans are read in at the function initModuleConfig(). Plug-ins are processed in sequence by initModulePlugIns(). As you will see shortly, all plug-ins will get a chance to interrogate and manipulate the ModuleConfig instance. The ModuleConfig instance is frozen after the struts-config.xml file is read. No changes may be made to a ModuleConfig instance after it has been frozen.

The first thing you need to do is assign which pins control the speed and direction. On the Ardumoto shield these are fixed at Pins 3, 11, 12, and 13: int int int int speed1 = 3; speed2 = 11; direction1 = 12; direction2 = 13;

A ModuleConfig instance is passed to our plug-in as soon as it is created. Our DynaForms plug-in will have to create new FormBeanConfig instances based on the new XML form bean declaration files and add them to ModuleConfig. Once this is accomplished, we re done. Well, almost! A quick check on initModuleConfig(), which creates a ModuleConfig instance and initializes it with form bean information, shows that form beans whose type are subclasses of DynaActionForm require special handling (see Listing 19-5).

protected ModuleConfig initModuleConfig(String prefix, String paths) throws ServletException { /* create ModuleConfig instance, "config" */ /* read form-bean data using Apache Digester */ // Force creation and registration of DynaActionFormClass instances // for all dynamic form beans we will be using FormBeanConfig fbs[] = config.findFormBeanConfigs(); for (int i = 0; i < fbs.length; i++) { if (fbs[i].getDynamic()) { fbs[i].getDynaActionFormClass(); } } return config; } In Listing 19-5, config refers to the newly created ModuleConfig instance. As the listing shows, once this instance has been filled with form bean information (held by FormBeanConfig instances), each FormBeanConfig instance is interrogated (using getDynamic()) to see if it is a subclass of DynaActionForm. If so, the function getDynaActionFormClass() is called on that FormBeanConfig. All getDynaActionFormClass() does is initialize that DynaActionForm subclass with the <form-property>s stored in FormBeanConfig. We will have to duplicate this behavior in our DynaForms plug-in.

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