diff --git a/src/examples/darwin_head_tracking_test.cpp b/src/examples/darwin_head_tracking_test.cpp
index ad7b46fa2c391e8f8c6476259550f8a362716cfe..5a96650808b49b0247a187219960512336d253b5 100644
--- a/src/examples/darwin_head_tracking_test.cpp
+++ b/src/examples/darwin_head_tracking_test.cpp
@@ -3,8 +3,8 @@
 
 #include <iostream>
 
-std::string robot_device="A603LOBS";
-//std::string robot_device="A4008atn";
+std::string robot_device="/dev/pts/20";
+//std::string robot_device="A603LOBS";
 
 int main(int argc, char *argv[])
 {
@@ -14,7 +14,7 @@ int main(int argc, char *argv[])
   std::vector<double> angles,speeds,accels;
 
   try{
-    CDarwinRobot darwin("Darwin",robot_device,1000000,0x02);
+    CDarwinRobot darwin("Darwin",robot_device,1000000,0x02,true);
 
     num_servos=darwin.mm_get_num_servos();
     present_servos=darwin.mm_get_present_servos();
diff --git a/src/examples/darwin_joint_motion_test.cpp b/src/examples/darwin_joint_motion_test.cpp
index 64d0a27db4b479dfdec8fb0e409d835791bb4d4a..6008e027282ec6d78b5400535eddd4c7cafe2214 100644
--- a/src/examples/darwin_joint_motion_test.cpp
+++ b/src/examples/darwin_joint_motion_test.cpp
@@ -3,8 +3,8 @@
 
 #include <iostream>
 
-std::string robot_device="A603LOBS";
-//std::string robot_device="A4008atn";
+std::string robot_device="/dev/pts/20";
+//std::string robot_device="A603LOBS";
 
 int main(int argc, char *argv[])
 {
@@ -14,7 +14,7 @@ int main(int argc, char *argv[])
   std::vector<double> angles,speeds,accels;
 
   try{
-    CDarwinRobot darwin("Darwin",robot_device,1000000,0x02);
+    CDarwinRobot darwin("Darwin",robot_device,1000000,0x02,true);
     num_servos=darwin.mm_get_num_servos();
     std::cout << "Found " << num_servos << " servos " << std::endl;
     present_servos=darwin.mm_get_present_servos();
@@ -35,17 +35,9 @@ int main(int argc, char *argv[])
       angles.clear();
       speeds.clear();
       accels.clear();
-      servos.push_back(23);
-      servos.push_back(22);
       servos.push_back(19);
       angles.push_back(45.0);
-      angles.push_back(45.0);
-      angles.push_back(45.0);
-      speeds.push_back(50.0);
       speeds.push_back(50.0);
-      speeds.push_back(50.0);
-      accels.push_back(50.0);
-      accels.push_back(50.0);
       accels.push_back(50.0);
       std::cout << "Start joint_motion ..." << std::endl;
       darwin.joints_load(JOINTS_GRP0,servos,angles,speeds,accels);
@@ -59,17 +51,9 @@ int main(int argc, char *argv[])
       angles.clear();
       speeds.clear();
       accels.clear();
-      servos.push_back(23);
-      servos.push_back(22);
       servos.push_back(19);
       angles.push_back(-45.0);
-      angles.push_back(-45.0);
-      angles.push_back(-45.0);
-      speeds.push_back(50.0);
       speeds.push_back(50.0);
-      speeds.push_back(50.0);
-      accels.push_back(50.0);
-      accels.push_back(50.0);
       accels.push_back(50.0);
       darwin.joints_load(JOINTS_GRP0,servos,angles,speeds,accels);
       darwin.joints_start(JOINTS_GRP0);
diff --git a/src/examples/darwin_walking_test.cpp b/src/examples/darwin_walking_test.cpp
index acd149afbf6af4312520f375bdb413f57adcadde..799aaa9149bdfd8dd42b0dca364e92eadb25258b 100644
--- a/src/examples/darwin_walking_test.cpp
+++ b/src/examples/darwin_walking_test.cpp
@@ -4,7 +4,8 @@
 
 #include <iostream>
 
-std::string robot_device="A603LOBS";
+std::string robot_device="/dev/pts/20";
+//std::string robot_device="A603LOBS";
 //std::string robot_device="A4008atn";
 
 int main(int argc, char *argv[])
@@ -14,7 +15,7 @@ int main(int argc, char *argv[])
   unsigned int present_servos;
 
   try{
-    CDarwinRobot darwin("Darwin",robot_device,1000000,0x02);
+    CDarwinRobot darwin("Darwin",robot_device,1000000,0x02,true);
     num_servos=darwin.mm_get_num_servos();
     present_servos=darwin.mm_get_present_servos();
     std::cout << "Found " << num_servos << " servos" << std::endl;
@@ -47,9 +48,9 @@ int main(int argc, char *argv[])
     std::cout << "Start walking ..." << std::endl;
     darwin.walk_set_x_step(0.0);
     darwin.walk_set_y_step(0.0);
-    darwin.walk_set_turn_step(0.01);
+    darwin.walk_set_turn_step(0.04);
     darwin.walk_start();
-    sleep(2);
+    sleep(10);
     std::cout << "Stop walking ..." << std::endl;
     darwin.walk_stop();
     while(darwin.is_walking())