SensorManager.md

@@ -34,15 +34,38 @@ In particular, the `SensorSampler` class maintains a `map<Sensor*, function<void
 Every time the `sampleAndCallback()` method of the `SensorSampler` is called, the sampler cycles through all its sensors, samples them and calls their corresponding callback, where these samples can be processed and dispatched.
 
 ## Sensor Manager
-In order to add a sensor to the `SensorManager`, the `addSensor()` method is provided: simply pass it the sensor, the callback function and the sampler type (it has default value equal to SIMPLE_SAMPLER).  
+In order to add a sensor to the `SensorManager`, the `addSensor()` method is provided: simply pass it the sensor, the required sampling frequency, the callback function and the sampler type (that has default value equal to SIMPLE_SAMPLER).  
   
 Every time a sensor is added, the `SensorManager` assigns it to a `SensorSampler`, according to the required sampling frequency and the sampling type, that can be either SIMPLE or DMA.  
 If a `SensorSampler` for that frequency and type doesn't exist, the `SensorManager` manages its creation.  
   
-Note that when a sensor is added, it is also initialized and its `selftest()` method is called. The sensor will be added only if both those functions return `true`.
+Note that when a sensor is added, it is also initialized and its `selftest()` method is called.  
+The sensor will be added only if both those functions return `true`.
   
 When `start()` is called, the `SensorManager` initializes the `TaskScheduler`: for each `SensorSampler`, it adds to the scheduler the `sampleAndCallback()` method to be called periodically according to the sampler's frequency.
 
 ## Example
 
-TODO
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+```cpp
+#include <miosix.h>
+#include <sensors/SensorManager.h>
+#include "utils/testutils/TestSensor.h"
+
+SensorManager sensor_manager;
+TestSensor* sensor = new TestSensor();
+
+void testCallback() {
+    float data = *(sensor->testDataPtr());
+    TRACE("Test data : %f \n", data);
+}
+
+int main() {
+
+    uint32_t frequency = 10;  // 10 Hz
+    std::function<void()> callback = std::bind(&testCallback);
+
+    sensor_manager.addSensor(sensor, frequency, callback, SIMPLE_SAMPLER);
+
+    sensor_manager.start();
+}
+```
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