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/********************************************************************** Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License. **********************************************************************/ package org.apache.struts.action; import javax.servlet.ServletException; import org.apache.struts.config.ModuleConfig; public interface PlugIn { //called after the PlugIn has been initialized using //setters for each property

digitalWrite(direction1, HIGH); digitalWrite(direction2, LOW); analogWrite(speed1, 64); analogWrite(speed2, 64); The four sequences together should make your robot go forward for two seconds, stop, turn left by 90 degrees, stop, go forward for two seconds again, stop, then turn at a slower rate by 180 degrees and repeat from the start You may well need to adjust the timings and speeds according to your own robot as you may be using a different voltage, faster or slower geared motors, etc Play around with the movement sequences to get the robot to move quicker or slower or turn at different rates as you desire The whole idea behind Project 29 is to get you used to the necessary commands to move the two motors in different directions and different speeds.

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void init(ActionServlet servlet, ModuleConfig config) throws ServletException; //called just before system shutdown void destroy(); } This interface has just two functions: init() is called when the PlugIn instance is created. Note that this function receives an instance of ModuleConfig. destroy() is called when Struts shuts down, to allow the plug-in to clean up any system resources (release file handles, close database connections, etc.). In addition to these two, your implementation of the PlugIn interface will have additional setters for each parameter that you want to pass into your plug-in class. These parameters are set in struts-config.xml in the plug-in s declaration. For example, the declaration <plug-in className="com.mycompany.myapp.MyPlugIn" > <set-property property="message" value="hello world"/> </plug-in> implies that MyPlugIn has a setMessage() function. In the following section, I ll introduce you to DynaFormsPlugIn.

If you just have motors but no robot base, attach some tape to the spindle of the motors so you can see the speed and direction they are turning..

package net.thinksquared.struts.dynaforms; import java.io.IOException; import java.util.StringTokenizer; import javax.servlet.ServletContext; import javax.servlet.ServletException;

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import org.apache.struts.action.PlugIn; import org.apache.struts.action.ActionServlet; import org.apache.struts.config.ModuleConfig;

The new piece of hardware used in this project is the motor shield. A shield is simply a circuit board already made up and conveniently sized to fit over the Arduino. The shield has pins to connect itself to the pins on the Arduino; these have female sockets on the top so you can still access the pins through the shield. Of course, depending on what type of shield you have, some of the Arduino pins will be used by

public class DynaFormsPlugIn implements PlugIn{ protected String _pathnames = ""; public void setPathnames(String pathnames){ _pathnames = pathnames; } public void init(ActionServlet servlet, ModuleConfig config) throws ServletException{ ServletContext context = servlet.getServletContext(); StringTokenizer tokenizer = new StringTokenizer(_pathnames,","); while(tokenizer.hasMoreTokens()){ String fname = context.getRealPath(tokenizer.nextToken().trim()); try{ DynaFormsLoader loader = DynaFormsLoaderFactory.getLoader(fname); loader.load(fname,config); }catch(NoSuitableLoaderException le){ throw new ServletException(le); }catch(IOException ioe){ throw new ServletException(ioe); }catch(DefinitionsException de){ throw new ServletException(de); } }

the shield and will therefore be out of bounds for use in your code. The Ardumoto shield, for example, uses Digital Pins 10, 11, 12, and 13. Shields have the benefit of giving you added functionality to your Arduino by simply plugging it in and uploading the necessary code. You can get all kinds of shields to extend the function of the Arduino to include such things as Ethernet access, GPS, relay control, SD and Micro SD Card access, LCD displays, TV connectivity, wireless communications, touch screens, dot matrix displays, and DMX lighting control. See Figure 10-8 for examples of different kinds of shields.

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