Modified the example to interface with the ADC module.

src/examples/CMakeLists.txt

@@ -9,9 +9,9 @@ TARGET_LINK_LIBRARIES(darwin_manager_test darwin_robot)
 #TARGET_LINK_LIBRARIES(darwin_gpio_test darwin_robot)
 
 # create an example application
-#ADD_EXECUTABLE(darwin_adc_test darwin_adc_test.cpp)
+ADD_EXECUTABLE(darwin_adc_test darwin_adc_test.cpp)
 # link necessary libraries
-#TARGET_LINK_LIBRARIES(darwin_adc_test darwin_robot)
+TARGET_LINK_LIBRARIES(darwin_adc_test darwin_robot)
 
 # create an example application
 ADD_EXECUTABLE(darwin_imu_test darwin_imu_test.cpp)

src/examples/darwin_adc_test.cpp

-#include "darwin_robot.h"
+#include "darwin_adc.h"
 #include "darwin_robot_exceptions.h"
 
 #include <iostream>
 
-std::string robot_device="A603LOBS";
-//std::string robot_device="A4008atn";
+#ifdef _SIM
+  std::string robot_device="/tmp/darwin_driver";
+#else
+  std::string robot_device="/dev/ttyACM0";
+#endif
 
 int main(int argc, char *argv[])
 {
   int i=0;
 
   try{
-    CDarwinRobot darwin("Darwin",robot_device,1000000,0x02);
-    std::cout << "found darwin controller" << std::endl;
-    darwin.adc_start();
-    for(i=0;i<5000;i++)
+    CDarwinADC adc("Darwin",robot_device,1000000,0x01);
+    adc.start();
+    for(i=0;i<50;i++)
     {
-      std::cout << "Temperature: " << darwin.adc_get_temperature() << std::endl;
-      std::cout << "Channel1: " << darwin.adc_get_value(ADC_CH1) << std::endl;
-      std::cout << "Channel2: " << darwin.adc_get_value(ADC_CH2) << std::endl;
-      std::cout << "Channel3: " << darwin.adc_get_value(ADC_CH3) << std::endl;
-      std::cout << "Channel4: " << darwin.adc_get_value(ADC_CH4) << std::endl;
-      std::cout << "Channel5: " << darwin.adc_get_value(ADC_CH5) << std::endl;
-      std::cout << "Channel6: " << darwin.adc_get_value(ADC_CH6) << std::endl;
-      std::cout << "Channel7: " << darwin.adc_get_value(ADC_CH7) << std::endl;
-      std::cout << "Channel8: " << darwin.adc_get_value(ADC_CH8) << std::endl;
-      std::cout << "Channel9: " << darwin.adc_get_value(ADC_CH9) << std::endl;
-      std::cout << "Channel10: " << darwin.adc_get_value(ADC_CH10) << std::endl;
-      std::cout << "Channel12: " << darwin.adc_get_value(ADC_CH12) << std::endl;
+      std::cout << "Temperature: " << adc.get_temperature() << std::endl;
+      std::cout << "Channel1: " << adc.get_value(ADC_CH1) << std::endl;
+      std::cout << "Channel2: " << adc.get_value(ADC_CH2) << std::endl;
+      std::cout << "Channel3: " << adc.get_value(ADC_CH3) << std::endl;
+      std::cout << "Channel4: " << adc.get_value(ADC_CH4) << std::endl;
+      std::cout << "Channel5: " << adc.get_value(ADC_CH5) << std::endl;
+      std::cout << "Channel6: " << adc.get_value(ADC_CH6) << std::endl;
+      std::cout << "Channel7: " << adc.get_value(ADC_CH7) << std::endl;
+      std::cout << "Channel8: " << adc.get_value(ADC_CH8) << std::endl;
+      std::cout << "Channel9: " << adc.get_value(ADC_CH9) << std::endl;
+      std::cout << "Channel10: " << adc.get_value(ADC_CH10) << std::endl;
+      std::cout << "Channel12: " << adc.get_value(ADC_CH12) << std::endl;
       usleep(100000);
     }
-    darwin.adc_stop();
+    adc.stop();
   }catch(CException &e){
     std::cout << e.what() << std::endl;
   }