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The offsets calculated for the left and right sensors are added to the value so that when all three sensors are looking at the same surface they will read approximately the same values LDR1 = analogRead(0) + leftOffset; LDR2 = analogRead(1); LDR3 = analogRead(2) + rightOffset; Now you need to check those sensor values and see if the black line has moved to far from the center You do this by checking the left and right sensors and seeing if the values read are greater than the value read from the center LDR plus the threshold offset If the value from the left sensor is greater than the reading-plus-threshold-offset, then the black line has shifted from the centerline and is too far to the right.

The actual work of transforming the custom tag s body and attributes into HTML code is done by Java handler classes that you must implement. Your handler classes would subclass one of two base classes, depending on the requirements of your tag. If your custom tag has no body, then you d subclass javax.servlet.jsp.tagext. TagSupport. This base handler class represents custom tags having no body, but possibly having attributes. If your custom class has a body, then you d have to subclass javax.servlet.jsp. tagext.BodyTagSupport instead. Of course, using BodyTagSupport doesn t mean your tags must have a body when they are used on JSPs. What it does mean is that you have to implement an extra handler function to process the tag s body. To keep things simple, in what follows we will focus on BodyTagSupport.

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The motor speeds are then adjusted so that the left wheel spins faster than the right, thus turning the robot to the right which will bring the black line back to the centre if (LDR1 > (LDR2+threshhold)) { left = startSpeed + rotate; right = startSpeed - rotate; } The same is done for the right hand sensor, this time turning the robot to the left: if (LDR3 > (LDR2+threshhold)) { left = startSpeed - rotate; right = startSpeed + rotate; }.

Note I ve bent the truth a little here. You can subclass either BodyTagSupport or TagSupport, regardless of whether or not your custom tag has a body. It s just that BodyTagSupport has extra facilities to allow you to conveniently read your tag s body. TagSupport does not have this ability. But this convenience comes at a price, since the servlet container has to do extra work and use more memory. This explains why you should subclass TagSupport if your custom tag doesn t have a body, and use BodyTagSupport only if necessary.

Sumner Blount measure both of the clarity of the policy itself and of the communication mechanism chosen to distribute it. Finally, there should be a periodic review cycle based on the calendar, or initiated when events dictate that the policy should be reviewed and updated. Policies that don t reflect current behavior norms or business realities can be worse than having no policies at all. Figure 3-2 highlights the key steps of policy management.

The speeds, which may or may not have been adjusted if the line was off center, are then sent out to the motors: analogWrite(speed1,left); analogWrite(speed2,right); This whole process is repeated over and over many times per second and forms a feedback loop which makes the robot follow the line. If your robot runs off the line, you may need to adjust the speed in startSpeed to a slower one. If it doesn t turn fast or far enough or if it turns too much, then the rotate value needs to be adjusted accordingly. The sensitivity of the LDRs can be adjusted by changing the value in the threshold variable. Play around with these values until you get the robot to follow the line successfully.

That extra function is doAfterBody(), which is called after the servlet container reads in the tag s body. This function is where you read the tag s body, do all necessary processing, and display the output. The tag must return an integer flag called EVAL_PAGE, defined for you on BodyTagSupport. This flag tells the servlet container to go ahead and process the rest of the page. The other requirement your handler classes must satisfy is that they must have additional getXXX and setXXX functions corresponding to attributes supported by your custom tag.

handler class needs to be a JavaBean, with properties corresponding to attributes supported by your custom tag.

Summary

For example, in Listing 4-1, by looking at the <bean:write> you can infer that the corresponding Java handler class has the functions getProperty() and setProperty(). Listing 4-3 illustrates this.

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