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lug-ins are a great way to extend the basic functionality of Struts. In previous chapters, you ve seen plug-ins at work in Tiles and the Validator framework. In this chapter, I ll walk you through developing a nontrivial and useful plug-in called DynaForms. Essentially, the DynaForms plug-in brings Tiles-like inheritance to dynamic form beans. I ll explain in more detail what this means shortly. The inspiration for this idea comes from an excellent pair of articles: Adding Spice to Struts, parts 1 and 2, by Samudra Gupta (see Useful Links at the end of this chapter). Samudra s solution to the problem of implementing an inheritance mechanism for dynamic form beans involves subclassing fundamental Struts classes, primarily ActionServlet. Unfortunately, as Samudra discusses in his article, his solution has a couple of downsides: the inheritance declaration is a little kludgy and limited. If you re interested in learning more, look up these articles for details. In this chapter, we ll take a different route and, I hope, a more scenic one meaning you get to see more of how Struts works under the hood. We ll create a plug-in that allows developers to create form beans with inheritance in XML files outside of struts-config.xml. In order for you to better follow the discussion, it would be helpful to have a copy of the latest Struts sources handy (see Useful Links for the download site; I ll be using release 1.2.7 in this chapter), and have them in a project within Eclipse (or a similar IDE). An IDE like Eclipse (again, see Useful Links ) is absolutely essential to easily trace function calls, declarations, and class hierarchies. You can do it with Notepad, but it won t be much fun.

Rob Zanella levels of process maturity and has gained a high level of acceptance in many large organizations today.3 Maturity Level 1 - Initial At this level processes are typically undocumented and in a state of dynamic change, tending to be driven in an ad hoc, uncontrolled and reactive manner by users or events. Maturity Level 2 - Managed At this level, processes are planned and repeatable. Maturity Level 3 - Defined At this level, there are sets of defined and documented standard processes established and subject to some degree of improvement over time. Maturity Level 4 Quantitatively Managed At this level, processes are managed using quality and performance metrics. Maturity Level 5 - Optimizing At this level, the focus is on continually improving process performance.4 By categorizing all controls according to their relative maturity, it becomes easier to determine where you should focus remediation activity, such as controls redesign.

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Figure 10-5. Circuit diagram for a bipolar stepper motor It is possible to increase the resolution of the stepper motor by using special techniques for half stepping and microstepping. These can increase the resolution of the motor, but at the expense of reduced torque and reduced position reliability. The best way to increase resolution is through a gearing system. Now that you know all about controlling a stepper motor, you ll go back to regular motor control, but this time you ll be using a motor shield and controlling two motors connected to wheel on a robot base.

Consider the hierarchy of entities shown in Figure 19-1 (a variation on the main example in Samudra s first article).

Both the Ship and Car entities contain properties from Vehicle. Now, suppose you wanted to create dynamic form beans corresponding to each of these entities. How would you do it Listing 19-1 shows how.

You are now going to use a motor shield to control two motors separately. You ll learn how to control the speed and direction of each motor and apply that knowledge to control the wheels on a two-wheeled robot. When you move onto Project 30, these skills will be employed to make a line-following robot.

Carnegie Mellon Software Engineering Institute, Capability Maturity Model Integration (CMMI), http://www.sei.cmu.edu/cmmi (see CMMI models for details) (accessed 1 December 2009).

<form-bean name="Vehicle" type="org.apache.struts.action.DynaActionForm"> <form-property name="class" type="java.lang.String" initial="Unknown Class"/> <form-property name="height" type="java.lang.Integer" initial="0"/> <form-property name="width" type="java.lang.Integer" initial="0"/> </form-bean> <form-bean name="Ship" type="org.apache.struts.action.DynaActionForm"> <form-property name="class" type="java.lang.String" initial="Ship"/> <form-property name="height" type="java.lang.Integer" initial="1000"/> <form-property name="width" type="java.lang.Integer" initial="0"/> <form-property name="name" type="java.lang.String"/> </form-bean>

You can run this project just using two DC motors if that is all you have. However, that s not a lot of fun. So either obtain a two wheeled robot base or make one out of two geared motors with wheels. The rotation at half speed needs to be about 20cm or 6 inches of forward movement per second.

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