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However, the challenge is to find the right words to not only convey management s intent, but also to prevent that intent from being misinterpreted Misinterpretation can lead to unintentional consequences As a result, a complete policy review cycle that includes a variety of constituencies is essential A policy that is determined to be defective after it has been widely communicated can be worse than having no policy at all 4 Review the policy Your major goals should be to ensure that the policy mitigates the risk, to ensure proper interpretation of the policy, and to identify unintentional consequences of the policy Make sure the key constituencies are part of the review process Update the policy as appropriate, based on feedback 5 Approve the policy There needs to be a clearly defined and preferably automated approval process (using a workflow).

Now you take those values and add them to the leftOffset, center, and rightOffset variables. These variables start off at zero, so after ten iterations they will contain a running total of all ten values read from the sensors. leftOffset = leftOffset + LDR1; centre = centre + LDR2; rightOffset = rightOffset + LDR3; Then you wait 100 milliseconds, turn the light off, wait another 100 milliseconds, and then repeat the process: delay(100); digitalWrite(9, LOW); // lights off delay(100); After this process has repeated ten times, you exit the for loop and then divide each of the running totals by ten. This gives you an average sensor reading for each of the three LDRs. leftOffset = leftOffset / 10; rightOffset = rightOffset / 10; centre = centre /10; You then calculate what the offset will be by deducting the left and right sensor values by the centre one: leftOffset = centre - leftOffset; rightOffset = centre - rightOffset; These values will be added to the sensor readings from the left and right sensors so that all three sensors will be giving approximately the same readings. This will make ascertaining the difference between the three readings a lot easier when detecting the difference between the floor and the black line. Next, you have the setup routine, which starts off by setting the pin for the LEDs and the pins for the motor speed and direction to OUTPUT: pinMode(9, OUTPUT); // lights pinMode(speed1, OUTPUT); pinMode(speed2, OUTPUT); pinMode(direction1, OUTPUT); pinMode(direction2, OUTPUT); The calibration routine is now run to ensure all three sensors issue similar readings, followed by a delay of three seconds. After the LEDs flash ten times during the calibration routine, you have three seconds to place the robot on the line it is to follow: calibrate(); delay(3000);

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package net.thinksquared.struts.dynaforms; import java.io.IOException; import java.io.File; import java.util.Iterator; import import import import org.apache.struts.config.ModuleConfig; org.apache.struts.config.FormBeanConfig; org.apache.struts.config.FormPropertyConfig; org.apache.commons.digester.Digester;

The lights are turned on, followed by a brief delay: digitalWrite(9, HIGH); // lights on delay(100); The direction of both motors is set to forward and the speeds are set to the values stored in the right and left variables (initially set to the value stored in startSpeed): digitalWrite(direction1, HIGH); digitalWrite(direction2, HIGH); analogWrite(speed1,left); analogWrite(speed2,right); Now you move onto the main loop of the program This starts off by setting the speed of the left and right motors to the value in startSpeed: left = startSpeed; right = startSpeed; The motor speed is reset to these values at the start of each loop so that the robot is always going forward, unless the values are changed later in the loop to make the robot turn You now read the sensor values from each of the three LDRs and store the values in the LDR1, LDR2, and LDR3 integers.

import net.thinksquared.struts.dynaforms.*; import net.thinksquared.struts.dynaforms.definitions.*; public class DefaultDynaFormsLoader implements DynaFormsLoader{

When a policy is approved, there should be a formal process defined for management of the policy document This can include a central repository, document versioning, edit histories, and other basic capabilities Once a policy is published, awareness campaigns generally help ensure that all target users are aware of what the policy requires them to do or not to do Finally, policy testing can be used where appropriate to help ensure that users actually understand the policy and how it relates to them This is a.

public void load(String filename,ModuleConfig config) throws IOException, DefinitionsException{ Beans beans = readBeans(filename); for(Iterator beanz = beans.values().iterator(); beanz.hasNext();){ Bean b = resolve(beans, (Bean)beanz.next()); if(b.getCreate()){ config.addFormBeanConfig(createFormBeanConfig(b)); } } } protected Beans readBeans(String filename) throws IOException, DefinitionsException{ try{ Digester digester = new Digester(); digester.addObjectCreate("form-beans", "net.thinksquared.struts.dynaforms.definitions.Beans"); digester.addSetProperties("form-beans"); digester.addObjectCreate("form-beans/form-bean", "net.thinksquared.struts.dynaforms.definitions.Bean"); digester.addSetProperties("form-beans/form-bean"); digester.addObjectCreate("form-beans/form-bean/form-property", "net.thinksquared.struts.dynaforms.definitions.Property"); digester.addSetProperties("form-beans/form-bean/form-property"); digester.addSetNext("form-beans/form-bean/form-property", "addProperty"); digester.addSetNext("form-beans/form-bean","addBean"); return (Beans)digester.parse(new File(filename));

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