Updated the serial number of the new CM730 controller.

Minor changes to some of the examples.

src/examples/darwin_action_test.cpp

@@ -4,8 +4,8 @@
 
 #include <iostream>
 
-//std::string robot_device="A603LOBS";
-std::string robot_device="A4008atn";
+std::string robot_device="A603LOBS";
+//std::string robot_device="A4008atn";
 
 int main(int argc, char *argv[])
 {

src/examples/darwin_adc_test.cpp

@@ -3,8 +3,8 @@
 
 #include <iostream>
 
-//std::string robot_device="A603LOBS";
-std::string robot_device="A4008atn";
+std::string robot_device="A603LOBS";
+//std::string robot_device="A4008atn";
 
 int main(int argc, char *argv[])
 {

src/examples/darwin_joint_motion_test.cpp

@@ -35,23 +35,41 @@ 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);
       darwin.joints_start(JOINTS_GRP0);
-      sleep(2);
-      darwin.joints_stop(JOINTS_GRP0);
-      std::cout << "done" << std::endl;
+      while(darwin.joints_are_moving(JOINTS_GRP0))
+      {
+        std::cout << "moving joints ..." << std::endl;
+        usleep(100000);
+      }
       servos.clear();
       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);

src/examples/darwin_manager_test.cpp

@@ -3,21 +3,22 @@
 
 #include <iostream>
 
-//std::string robot_device="A603LOBS";
-std::string robot_device="A4008atn";
-std::string config_file="../src/xml/darwin_action.xml";
+std::string robot_device="A603LOBS";
+//std::string robot_device="A4008atn";
 
 int main(int argc, char *argv[])
 {
   int i=0,num_servos;
+  unsigned int present_servos;
   std::vector<int> servos;
   std::vector<double> angles,speeds,accels,offsets;
 
   try{
     CDarwinRobot darwin("Darwin",robot_device,1000000,0x02);
-    darwin.mm_load_config(config_file);
     num_servos=darwin.mm_get_num_servos();
-    std::cout << "Found " << num_servos << " servos" << std::endl;
+    present_servos=darwin.mm_get_present_servos();
+    std::cout << "Found " << num_servos << " servos " << std::endl;
+    std::cout << "Present servos: " << present_servos << std::hex << "0x" << present_servos << std::dec << std::endl;
     std::cout << "Motion manager period " << darwin.mm_get_period() << " ms" << std::endl;
     // execute the walk ready action
     std::cout << "Assign servos to the action module" << std::endl;