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For this project, you will need a small lightweight robot base. These can be purchased ready-made or in kit form. Or you can build one from scratch (much more fun). Make sure the wheels are geared so that they rotate much slower than the motor because the robot must be able to move fairly slowly to enable it to navigate the line. As the robot will be autonomous, it will need its own battery pack. I found that a six-AA battery holder provided enough power for the Arduino, sensors, LEDs, shield, and motors. Larger batteries will give you a longer life but at the expense of greater weight, so it will depend on the load bearing capacity of your robot.

Now you want to read this data into the User JavaBean shown in Listing 19-8.

public class User{ protected String _id = null; protected String _password = null; public void setId(String id){ _id = id; } public String getId(){ return _id; } public void setPassword(String pwd){ _password = pwd; } public String getPassword(){ return _password; } } Notice that the desc attribute isn t stored. Listing 19-9 shows how to do it with Digester.

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Connect the circuit up as in Figure 10-9. The shield is not shown, but the four outputs simply go to Motor A and Motor B. The four LEDs can be any color as long as they have a reasonable enough brightness to illuminate the floor and create contrast between the floor and the black line for your sensor to detect. White LEDs are best as they output the greatest brightness for the lowest current. Four of these are connected in parallel with Pin 9. Make sure that you use the appropriate current limiting resistors for your LEDs.

Rob Zanella Rationalization of controls can help provide a reduced and more meaningful set of controls, which can also make it easier to assign accountability for the execution of each control Each control can be aligned with a person who is responsible for executing it, and that accountability can be helpful when problems with the control arise In addition, the reduction in the number of controls and the fact that each control tends to meet multiple requirements can increase the sense of responsibility that each control owner has As part of the analysis of your controls, both to determine their maturity and to look for areas of overlap, you may want to look at similar controls across the organization Taking a purely localized approach to controls rationalization is better than doing nothing, but it only reduces the scope of the problem; it doesn t move you toward eliminating it.

//Step 1: Create new Digester instance: Digester digester = new Digester(); //Step 2: Associate tag <user> with User bean: digester.addObjectCreate("user", "User"); //Step 3: Tell Digester to read in all // required properties into User bean: digester.addSetProperties("user");

Finally, connect up three light dependent resistors to Analog Pins 0, 1, and 2. One side of the LDR goes to ground, the other to +5v via a 1K ohm resistor. The wire from the analog pins goes between the resistor and the LDR pin (you used LDRs in Project 14).

//Step 4: Actually parse the file User u = (User) digester.parse(new File("myfile.xml")); //Step 5: Our User bean contains the data from the XML file! System.out.println("ID=" + u.getId() + " pwd=" + u.getPassword()); The parse() function on the Digester class (org.apache.commons.digester.Digester) parses the input XML file and returns a populated User instance. There are two functions you should take special note of: addObjectCreate(path, bean): Takes a path in the XML file and a JavaBean that will get populated based on that path. In our earlier example, the path is just user, which we want to read from and return a populated User object. addSetProperties(path): This tells Digester that you want to read the attributes of the tag indicated by the given path into the JavaBean you associated with that path using addObjectCreate(). So, in our previous example, if you omitted addSetProperties(), the returned User bean would contain no information. Handling more than one user declaration is also easy. For example, suppose now we amended our myfile.xml as shown in Listing 19-10.

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