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Figure 9-7. Mount one servo on top of the other (image by David Stokes) The joystick can be purchased from eBay or an electrical supplier. You could also find an old C64 or Atari joystick. However, there is a cheap alternative available called a PS2 controller; it contains two 2axis potentiometer joysticks as well as a set of vibration motors and other buttons. These can be purchased on eBay very cheaply and are easily taken apart to access the parts within (see Figure 9-8). If you don t want to take the controller apart, you could access the digital code coming from the cable of the PS2 controller. In fact, there are Arduino libraries to enable you to do just this. This will give you full access to all of the joysticks and buttons on the device at once.

There are two ways to split up your Struts configuration file. Use the multiple files approach if your concerns are only about manageability or source control. Use the multiple submodules approach if you need separate namespaces as well. In the latter, you can declare common form beans, actions, forwards, and so forth in a single file and share them between submodules. This prevents duplication of declarations while giving you separate namespaces.

As we stated in the beginning of this chapter, there is no correct answer as to the best structure for the governance of risk and compliance. It depends

A compendium of commonly used content type (MIME types) strings: http:// www.utoronto.ca/webdocs/HTMLdocs/Book/Book-3ed/appb/mimetype.html Apache Commons Logging: http://jakarta.apache.org/commons/logging/ Log4j: http://logging.apache.org/log4j/docs/

Figure 9-8. All the great parts available inside a PS2 Controller (image by Mike Prevette)

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Enter the code in Listing 9-3. Listing 9-3. Code for Project 27 // Project 27 #include <Servo.h> Servo servo1; // Create a servo object Servo servo2; // Create a second servo object int pot1, pot2; void setup() { servo1.attach(5); servo2.attach(6); servo1.write(90); servo2.write(90); } void loop() { pot1 = analogRead(3); // Read the X-Axis pot2 = analogRead(4); // Read the Y-Axis pot1 = map(pot1,0,1023,0,180); pot2=map(pot2,0,1023,0,180); servo1.write(pot1); servo2.write(pot2); delay(15); } When you run this program you will be able to use the servos as a pan/tilt head. Rocking the joystick backwards and forwards will cause the top servo s armature to rock back and forth, and moving the joystick from side to side will cause the bottom servo to rotate. If you find that the servos are going in the opposite direction from what you expected, then you have the outer pins of the appropriate servo connected the wrong way. Just swap them around.

Governance of Risk and Compliance on your company s size, sophistication, business model, risk appetite, and other factors. However, unifying the governance of risk and compliance into a single function performed by a unified team clearly has its benefits. It enables you to provide tools, taxonomy, training, and guidance in a consistent and orderly manner. It lets you partner with the business to proactively address risks, challenge your risk assessments, and help ensure there are no gaps. Perhaps most important, it facilitates a consolidated view of risks for executive management and the Board of Directors, so that they can efficiently and effectively carry out their responsibilities to manage risk.

Struts provides a number of useful classes, features, and tricks to make writing webapps easier. This chapter covers some of the ways you can take advantage of what s available rather than reinventing the wheel in your webapps.

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