diff --git a/src/examples/CMakeLists.txt b/src/examples/CMakeLists.txt
index f505e95a9afbfb6bd26af054730e76f18b8bf493..795bccb1ed62003cfbc8d51f2c63445b4a754c7b 100644
--- a/src/examples/CMakeLists.txt
+++ b/src/examples/CMakeLists.txt
@@ -53,4 +53,9 @@ ENDIF(KDL_FOUND)
 # create an example application
 ADD_EXECUTABLE(darwin_smart_charger_test darwin_smart_charger_test.cpp)
 # link necessary libraries
-TARGET_LINK_LIBRARIES(darwin_smart_charger_test darwin_robot)
\ No newline at end of file
+TARGET_LINK_LIBRARIES(darwin_smart_charger_test darwin_robot)
+
+# create an example application
+ADD_EXECUTABLE(darwin_gripper_test darwin_gripper_test.cpp)
+# link necessary libraries
+TARGET_LINK_LIBRARIES(darwin_gripper_test darwin_robot)
diff --git a/src/examples/darwin_gripper_test.cpp b/src/examples/darwin_gripper_test.cpp
index 90b49a70ee9ef4bb5fc0f000d48475028540b985..eff801d4845293d4231cbd61b240f1adc155bf88 100644
--- a/src/examples/darwin_gripper_test.cpp
+++ b/src/examples/darwin_gripper_test.cpp
@@ -7,14 +7,13 @@ std::string robot_device="A603LOBS";
 
 int main(int argc, char *argv[])
 {
-  int i=0,num_v1_servos,num_v2_servos;
   std::vector<double> angles;
 
   try{
-    CDarwinRobot darwin("Darwin",robot_device,1000000,0xC0);
-    darwin.mm_get_num_servos(&num_v1_servos,&num_v2_servos);
-    std::cout << "Found " << num_v1_servos << " v1 servos and " << num_v2_servos << " v2 servos" << std::endl;
+    CDarwinRobot darwin("Darwin",robot_device,1000000,0x02);
+    std::cout << "Found " << darwin.mm_get_num_servos() << " servos" << std::endl;
     darwin.mm_enable_power();
+    darwin.mm_enable_power_v2();
     darwin.mm_enable_servo(24);
     darwin.mm_assign_module(24,DARWIN_MM_GRIPPER);
     darwin.mm_enable_servo(21);