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Upon powering up the circuit, one motor should spin depending on which sensors see more brightness. By moving your hand across the front of the sensors, the circuit should alternate between lighting up one set of LEDs and motor, and then the other set of LEDs and motor. Only one motor should be enabled at a time unless the brightness is extremely balanced or unless you move your hand very quickly in front of the sensors. The robot makes tight turns with only one motor enabled, with one rotating wheel pivoting around the stationary wheel.

PS> Get-EventLog -LogName System -Newest 10 | ` where { $_.EntryType -eq "Information" -and $_.Source -eq "Dhcp" } Index ----6069 6067 6066 6065 Time ---Dec 08 Dec 08 Dec 08 Dec 08 Type ---Info Info Info Info Source -----Dhcp Dhcp Dhcp Dhcp EventID ------1103 1103 1103 1103 Message ------Your compute... Your compute... Your compute... Your compute...

public void execute(CommandService commandService) throws SiteException { User author = commandService.get(User.class, authorID); commandService.assertUserIsAuthenticated(author); //as before }

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Congratulations, you ve finished prototyping all of the electronics necessary for the line-following robot! Admittedly, there is one piece missing. Currently the left motor engages when the left side is brighter and the right motor engages when the right side is brighter. When the robot s board is finally built, a line-following switch will be added that can swap the motor connections to the opposite sides. In doing so, the robot can either pivot toward brightness or pivot away from brightness. Thus, it can follow either dark lines or light lines. You can also toggle the line-following switch into the center position to disconnect the motors. In this state, you can place the robot on the starting line without it running away. This also keeps the robot stationary, but alive, during debugging. Unfortunately, I could not locate an appropriately sized DPDT-center-off switch to prototype on a solderless breadboard. But, other than the switch, your breadboard now contains all of the components in the final configuration, ready to be soldered together. Now that the motors are ready, it s time to add some wheels.

Here, you can see our implementation of this assertion that was described previously. This is the command to save forum posts. We can trust our authentication module (wrapped inside the CommandService) to know who s logged in; that s what we covered in the authentication chapter. What we need to ensure now is that we enforce the constraint that logged in users can only create forum posts for themselves. Without this constraint, we d be protected against random strangers making forum posts, but any logged in user would be able to create a post impersonating another user without a problem. Having our assert method throw an exception simplifies things and means that we don t have to check the results. We can just say what we need to be the case and be on our merry way.

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At this point, you have some wonderful motors that are only spinning themselves. In this chapter, you ll be introduced to a variety of wheels and some criteria to aid you in selecting a pair of wheels for the linefollowing robot.

Listing 11-2 provides a quick look at the implementation of this method in our SchoolService class, which is the implementation of the CommandService on the server side.

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