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The attach command attaches a created servo object to a designated pin. The attach command can take either one parameter, as in your case, or three parameters. If three parameters are used, the first parameter is the pin, the second is the minimum (0 degree) angle in pulse width in microseconds (defaults to 544), and the third parameter is the maximum degree angle (180 degrees) in pulse width in microseconds (defaults to 2400). This will be explained in the hardware overview. For most purposes you can simply set the pin and ignore the optional second and third parameters. You can connect up to 12 servos to an Arduino Duemilanove (or equivalent) and up to 48 on the Arduino Mega perfect for robotic control applications! Note that using this library disables the analogWrite (PWM) function on Pins 9 and 10. On the Mega you can have up to 12 motors without interfering with the PWM functions. The use of between 12 and 23 motors will disable the PWM functionality on Pins 11 and 12. In the main loop, read the analog value from the potentiometer connected to Analog Pin 0: int angle = analogRead(0); // Read the pot value Then that value is mapped so the range is now between 0 and 180, which will correspond to the degree angle of the servo arm: angle=map(angle, 0, 1023, 0, 180); // Map the values from 0 to 180 degrees Then you take your servo object and write the appropriate angle, in degrees, to it (the angle must be between 0 and 180 degrees):

Tags have a prefix defined on the JSP page (in the preceding example, the prefix is temp) and a tag name (in the example, F), which is fixed in the tag s TLD (Tag Library Descriptor) file. Before they can be used on a JSP, a tag has to be declared at the start of the page. For example, a declaration for the <temp:F> tag might be as follows:

We ll deconstruct this declaration in the following section. For now, simply note that the prefix is defined in the JSP.

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servo1.write(angle); // Write the angle to the servo Finally, a delay of 15ms is programmed to allow the servo time to move into position: delay(15); // Delay of 15ms to allow servo to reach position You can also detach() a servo from a pin, which will disable it and allow the pin to be used for something else. Also, you can read() the current angle from the servo (this is the last value passed to the write() command). You can read more about the Servo library on the Arduino website at http://arduino.cc/ en/Reference/Servo.

Thus far, we ve talked about the benefits of a centralized risk and compliance function from a structure and process perspective. However, this discussion would be incomplete without a broader vision of how to effectively bring all these functions together using a common system.

Note A tag s prefix is used to prevent tag name clashes. For example, if you had to use two different tags (from different tag libraries) with the same name, you could give them different prefixes, to distinguish between them. So, prefixes are flexible and you define them on an individual JSP. Tag names, on the other hand, can t be changed and are defined in the tag s TLD file.

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