Added the enable and disable power functions.

src/examples/darwin_action_test.cpp

@@ -22,6 +22,8 @@ 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(1);
     darwin.start_scan();
     while(darwin.is_scanning())
     {
@@ -47,7 +49,7 @@ int main(int argc, char *argv[])
       i++;
     }
     darwin.start();
-    for(unsigned int i=0;i<20;i++)
+    for(unsigned int i=0;i<2;i++)
     {
       action.load_page(7);
       action.start();
@@ -74,6 +76,7 @@ int main(int argc, char *argv[])
       }
     }
     darwin.stop();
+    darwin.disable_power();
   }catch(CException &e){
     std::cout << e.what() << std::endl;
   }

src/examples/darwin_head_tracking_test.cpp

@@ -22,6 +22,7 @@ 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();
     darwin.start_scan();
     while(darwin.is_scanning())
     {
@@ -46,8 +47,8 @@ int main(int argc, char *argv[])
       }
       i++;
     }
-    head.set_pan_pid(0.04,0.0,0.0,0.0);
-    head.set_tilt_pid(0.04,0.0,0.0,0.0);
+    head.set_pan_pid(4.0,0.0,0.0,0.0);
+    head.set_tilt_pid(4.0,0.0,0.0,0.0);
     darwin.start();
     head.start_tracking(45.0,90.0);
     sleep(3);
@@ -60,6 +61,7 @@ int main(int argc, char *argv[])
     head.set_new_target(0.0,0.0);
     sleep(3);
     darwin.stop();
+    darwin.disable_power();
   }catch(CException &e){
     std::cout << e.what() << std::endl;
   }

src/examples/darwin_joint_motion_test.cpp

@@ -24,6 +24,7 @@ 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();
     darwin.start_scan();
     while(darwin.is_scanning())
     {
@@ -86,6 +87,7 @@ int main(int argc, char *argv[])
       }
     }
     darwin.stop();
+    darwin.disable_power();
   }catch(CException &e){
     std::cout << e.what() << std::endl;
   }

src/examples/darwin_walking_test.cpp

@@ -28,6 +28,7 @@ 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();
     darwin.start_scan();
     while(darwin.is_scanning())
     {
@@ -89,6 +90,7 @@ int main(int argc, char *argv[])
     balance.disable();
     imu.stop();
     darwin.stop();
+    darwin.disable_power();
   }catch(CException &e){
     std::cout << e.what() << std::endl;
   }