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Figure 10-9. The circuit for Project 30 Line Following Robot (see insert for color version) The breadboard above can be used for testing purposes. However, for making the robot you will need to make up a sensor bar that houses the four LEDs and the three LDRs. These must be positioned so that they are all close together and pointing in the same direction. I soldered up the LED and sensor circuit onto a small piece of stripboard and placed the three LDRs in-between the four LEDs and just slightly higher than the LEDs so that the light from them did not shine onto the sensor. Figure 10-10 shows how I did it.

In addition, you may find controls that either aren t associated with a specific risk or aren t necessary This can result in further optimization of your controls Another reason you may want to rationalize controls is that when multiple controls cover the same task, you might foster a lack of commitment among the employees involved in those related controls They may feel that I don t have to perform my check, because someone else will do theirs Or, I m doing this check, but I know Johnny is doing the check behind me; so if I don t catch it, Johnny will The problem is that Johnny may be saying, I don t have to do my check because Rob will catch it If that logic is pervasive, the possibility that no one is checking increases significantly.

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<users> <user id="albert" password="relativity" desc="Albert Einstein" /> <user id="marie" password="radioactivity" desc="Marie Curie" /> <user id="paul" password="qed" desc="Paul Dirac" /> </users> To read in all the Users on this file, we could store them into a Users class, as Listing 19-11 shows.

public class Users extends java.util.ArrayList{ public void addUser(User u){ add(u); } public User getUser(int i){ return (User) get(i); } }

The sensor bar is then attached to the front side of your robot in such a way that the LEDs and LDRs are about 1cm or half an inch above the floor (see Figure 10-11). I simply taped mine to the front of my robot, but for a more permanent solution the sensor bar could be bolted to the chassis.

As you can see in Listing 19-11, the Users bean is just a collection of User beans. We want Digester to create User beans based on the new XML (see Listing 19-8) and place them into the containing Users bean. To do this, we ll have to amend Listing 19-9 as shown in Listing 19-12.

Figure 10-11. The robot base fitted with the sensor bar. The battery pack should be placed centrally inside the robot base so as to not upset the load balance between the wheels. Fix the pack to the chassis with some Velcro so it cannot move around as the robot navigates the course. As you can see from Figure 10-11, wires runs between the motor shield and the two motors and also down to the sensor bar. One wire provides +5v, one is for Ground, one is for +5v from Digital Pin 9, and the other three go to analog sensors 0, 1 and 2, with 0 being the left hand sensor (looking from the front of the robot), 1 being the center sensor, and 2 being the right hand one. It is critical that you get the order correct or the robot will not work as expected. See Figure 10-12 for an image of my robot in action on my kitchen floor (there is also a video of it in action on YouTube and Vimeo if you can find them).

You need to be sure your controls are meaningful and that everyone supports them and understands their role in executing them Organizations, especially those in reactive mode, may be tempted to throw controls at a problem, without taking the time to rationalize them to avoid overlap To adapt to ongoing businesses changes, continuous improvement is needed This, in part, comes from regularly rationalizing controls and establishing or verifying clear accountability When control owners are held responsible for consistently executing their controls, and they understand the purpose of the controls, the happy byproduct is that they may go beyond merely performing tasks without understanding their purpose and may begin looking for improvements and ensuring that controls evolve along with the needs of the business..

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