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Next, create a function to turn the motors off. The motor is turned off four times in the code so it makes sense to create a function to do this: void stopMotor() { // turn both motors off analogWrite(speed1, 0); analogWrite(speed2, 0); } To turn the motors off you just need to set the speed of each motor to zero. Therefore, you write a value of zero to the speed1 (left motor) and speed2 (right motor) pins. In the setup loop, the four pins are set to output mode: pinMode(speed1, OUTPUT); pinMode(speed2, OUTPUT); pinMode(direction1, OUTPUT); pinMode(direction2, OUTPUT); In the main loop, you execute four separate movement routines. First, you move the robot forward at 50% speed for two seconds: digitalWrite(direction1, HIGH); digitalWrite(direction2, HIGH); analogWrite(speed1,128); analogWrite(speed2,128); delay(2000); This is done by first setting the direction pins to HIGH, which equates to forward (presuming your motors are wired the correct way around). The speed pins of both motors are then set to 128. The PWM values range from 0 to 255, so 128 is halfway between those. Therefore, the duty cycle is 50% and the motors will run at half speed. Whatever direction and speed you set the motors to run at, they will continue thusly until you change them. Therefore, the two second delay will ensure the robot moves forward at 50% speed for two seconds, which should be about a meter or 3 feet. Next, you stop the motors from turning and wait one second: stopMotor(); delay(1000); // stop

You have immediately saved your approvers time as well as reduced the probability of error The corresponding automation of the deprovisioning process has similar advantages, but it also helps decrease certain security vulnerabilities When a disgruntled employee is terminated, his or her access rights and accounts need to be terminated immediately Even a small delay in removing access may pose an unacceptable risk to the corporation Automation of the process may be the only viable way to achieve this Although this is a simplistic example, it illustrates how an investment in technology can automate compliance controls, thereby saving time and money and making the controls more effective Each organization is different and should evaluate where such automations are possible and will provide the biggest benefit.

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Open ActionServlet in Eclipse (or some other IDE) and follow the function calls I ve described in this section. Also look at ModuleConfig and FormBeanConfig. Your goal should be to satisfy yourself of the veracity of the statements I ve made in this section.

The next movement sequence changes the direction of the left hand motor to reverse and the right side motor to forward To make a motor go forward, set its direction pin to HIGH; to make it go in reverse, set it to LOW The speed remains at 50%, so the value of 128 is written to the speed pins of both motors (the lines for forward motion on the right wheel and the speeds are not strictly necessary but I have left them in so you can modify them as you wish to get different movements) Making the right hand wheel go forward and the left hand wheel move in reverse causes the robot to rotate anti-clockwise (turn left) This movement is for one second, which should make it turn left by about 90 degrees.

Now that you have a global view of how form beans are read and stored, I ll show you how to create a plug-in.

After this sequence, the motor is stopped for one second again: digitalWrite(direction1, LOW); digitalWrite(direction2, HIGH); analogWrite(speed1, 128); analogWrite(speed2, 128); delay(1000); The next sequence makes the robot move forward again at 50% speed for two seconds, followed by a one second stop: digitalWrite(direction1, HIGH); digitalWrite(direction2, HIGH); analogWrite(speed1,128); analogWrite(speed2,128); delay(2000); The final movement sequence changes the direction of the wheels so that the left hand wheel drives forward and the right hand wheel drives backwards This will make the robot rotate clockwise (turn right) The speed this time is set at 64, which is 25% duty cycle, making it rotate slower than before The rotation lasts for two seconds, which should be enough to turn the robot by 180 degrees.

A plug-in must implement Struts PlugIn interface, which is shown in Listing 19-6.

The controls that are the best candidates for automation are generally those manual controls that cost the most to operate or are the most prone to failure Automated controls can also be important when organizations are faced with the risk-versus-cost tradeoff considered earlier Controls automation can lead to greater efficiency and therefore lower compliance costs But automated controls are often also less prone to failures than manual controls (because humans are fallible) So, as manual controls are automated, both overall risk and total costs can potentially be reduced, helping to eliminate the typical tradeoff between these two important requirements Although investments are required in order to automate.

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