Added the functions to power the robot on and off.

Modified the manger example.

include/darwin_dyn_manager.h

@@ -20,6 +20,9 @@ class CDarwinDynManager : public CDarwinRobotBase
     bool is_running(void);
     void start_scan(void);
     bool is_scanning(void);
+    void enable_power(void);
+    void disable_power(void);
+    bool is_power_enabled(void);
     unsigned char get_num_devices(void);
     unsigned int get_present_devices(void);
     ~CDarwinDynManager();

include/darwin_mmanager.h

@@ -25,9 +25,6 @@ class CDarwinMManager : public CDarwinDynManager
     void assign_module(unsigned char servo_id, mm_mode_t mode);
     void assign_module(std::string &servo,std::string &module);
     mm_mode_t get_module(unsigned char servo_id);
-//    void enable_power(void);
-//    void disable_power(void);
-//    bool is_power_enabled(void);
     std::vector<double> get_servo_angles(void);
     double get_servo_angle(unsigned char servo_id);
     void set_servo_offset(unsigned char servo_id,double offset);

src/darwin_dyn_manager.cpp

@@ -79,6 +79,27 @@ bool CDarwinDynManager::is_scanning(void)
   return scanning&MANAGER_SCANNING;
 }
 
+void CDarwinDynManager::enable_power(void)
+{
+  this->is_valid();
+  this->robot_device->write_byte_register(MANAGER_CONTROL,MANAGER_ENABLE_POWER);
+}
+
+void CDarwinDynManager::disable_power(void)
+{
+  this->is_valid();
+  this->robot_device->write_byte_register(MANAGER_CONTROL,MANAGER_DISABLE_POWER);
+}
+
+bool CDarwinDynManager::is_power_enabled(void)
+{
+  unsigned char powered;
+
+  this->is_valid();
+  this->robot_device->read_byte_register(MANAGER_CONTROL,&powered);
+  return powered&MANAGER_POWERED;
+}
+
 unsigned char CDarwinDynManager::get_num_devices(void)
 {
   unsigned char num;

src/examples/darwin_manager_test.cpp

@@ -21,6 +21,9 @@ int main(int argc, char *argv[])
     std::cout << "Number of modules: " << darwin.get_num_modules() << std::endl;
     std::cout << "Number of masters: " << darwin.get_num_masters() << std::endl;
     std::cout << "Motion manager period: " << darwin.get_period() << std::endl;
+
+    darwin.enable_power();
+    sleep(2);
     darwin.stop();
     darwin.start_scan();
     while(darwin.is_scanning())
@@ -66,6 +69,7 @@ int main(int argc, char *argv[])
       usleep(100000);
     }
     darwin.stop();
+    darwin.disable_power();
   }catch(CException &e){
     std::cout << e.what() << std::endl;
   }