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When you use the require command instead of include, PHP will return an error and halt program execution if it cannot locate the requested file This is usually preferable to using either include or include_once, because every time the program runs you will get a fatal error if the file cannot be found, rather than only in cases where a function in the include file is accessed This enables you to correct the problem (probably a mistyped filename or incorrect path) before you release your project to the general public But, as they say, that s not the whole story Just like with include, each time PHP encounters a require command it will reload the requested file into memory This, as previously discussed, is not a good idea So the final (and in my opinion best) solution is to use the require_once command, explored next

designing a motor control system that s powerful enough for a robot of Octavius size and weight, and simple enough to be used with smaller robots as well That way, if you would rather begin by designing a smaller and simpler robot, you could use our 20X2 master processor as its brain, build a simple one-level platform, and add the motor controller we are about to discuss and construct If you decide to take this approach, you will need to make one small sacrifice The L298 chip requires two PWM signals one for each motor; however, it s also possible to drive both L298 PWM input lines from the single PWM output on the 20X2 Your robot will still be able to move forward and backward at varying speeds, as well as turn in any direction by rotating in place Making a gradual turn by moving along a curved path is the only ability that is sacrificed by this approach If you don t want to lose that capability, you could switch to a 20M2 processor (which has four PWM outputs) or a 28X2, which has two PWM outputs and four additional I/O pins

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Like its counterpart, include_once, require_once will only ever load in a single copy of a file, no matter how often that file is requested But, unlike include, it will also generate an error if it can t find the file requested So there you have it, require_once provides the best of both worlds and is the ideal way to include files in your PHP programs It is therefore the recommended method used throughout this book

The arguments to the addJavascriptInterface mechanism are simple. The first is an application-provided handler and the second is a textual string. Listing 16.10 presents the class for the handler. Note that this kind of class may also be implemented as an inner class to the Activity, but we broke it out for clarity in this example. One consequence of breaking the class out on its own is the need to provide a Context for the code in order to access various elements of the SDK. You accomplish this by passing the context into the constructor, as in this listing.

WHEN OCTAVIUS EXPERIENCED his unfortunate motor controller meltdown that I described in the previous chapter, I knew his SN754410 motor controller chip wasn t up to the task of driving him around his subterranean home, so I decided to upgrade him to a more powerful propulsion system I chose the L298 motor controller chip for three reasons First, the L298 is capable of providing 2A per motor continuously and 3A per motor for momentary surges, so it s more than powerful enough for Octavius Also, its I/O interface is identical to that of the SN754410, so there was no need to change Octavius wiring or software Most importantly, the L298 includes dual current-sensing capability, so Octavius (or any robot) can monitor the current draw of each of his motors in real time and, if necessary, implement corrective action to remedy the situation before any damage is done to his circuitry For example, the most likely cause of excessive current draw would be that Octavius has run into an immovable object If that were to happen, his wheels would either not be turning at all (a complete motor stall) or they would be drawing excessive current to overcome friction and spin in place In either case, Octavius could detect the excessive motor current and immediately correct the situation by backing up a bit, turning, and going in a different direction In this chapter, we re going to take a brief look at the theory of an H-Bridge motor controller such

package com.msi.manning.webtutorial; import import import import import android.content.Intent; android.content.Context; android.net.Uri; android.util.Log; android.widget.Toast;

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