SensorManager.md

 The `SensorManager` component manages all the sensors connected to the board.  
 Periodically, sensors are sampled and their corresponding callback is called, so that further operations can be performed on the retrieved data.
 
-
-## Component Structure
-
-![SensorManager](uploads/1f55e1bc16d78055c82e0fc0df6395a3/SensorManager.png)
-
 ## Sensor
 
 The `Sensor.h` header file contains the base classes that every new sensor in the system must inherit from it.  
@@ -44,18 +39,76 @@ The sensor will be added only if both the initialization and the test succeed.
   
 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
 
+## Component Structure
+
+![SensorManager](uploads/1f55e1bc16d78055c82e0fc0df6395a3/SensorManager.png)![SensorManager](uploads/419550d7828ce82614323d8ac34abd03/SensorManager.png)
+
+## Example
+### Step 1: Creating a sensor
+```cpp
+#include <cmath>
+#include "Common.h"
+#include "sensors/Sensor.h"
+
+using miosix::getTick;
+using miosix::TICK_FREQ;
+
+class TestSensor : public virtual Sensor
+{
+    public:
+        TestSensor() : sample(0) {}
+
+        ~TestSensor() {}
+
+        bool init() override
+        { 
+            // initialize the sensor here
+            // e.g. set config registers and check whoami
+            return true; 
+        }
+
+        bool onSimpleUpdate() override
+        {
+            // read data and store it in local variable "sample"
+            sample = 10 * sin(PI * static_cast<float>(getTick()) /
+                                static_cast<float>(TICK_FREQ));
+            return true;
+        }
+
+        bool selfTest() override 
+        {  
+            // check that the sensor is properly working
+            // e.g. check values tolerance over a set of samples
+            //      or what the datasheet suggests
+            return true; 
+        }
+        
+        // not a Sensor class method: you should 
+        // define methods to get the sampled data
+        float getData() 
+        { 
+            return &sample; 
+        }
+
+    private:
+        float sample;
+};
+```
+
+### Step 2: Sampling the sensor
 ```cpp
 #include <miosix.h>
 #include <sensors/SensorManager.h>
-#include "utils/testutils/TestSensor.h"
+#include "TestSensor.h"
 
 SensorManager sensor_manager;
 TestSensor* sensor;
 
 void testCallback() {
-    float data = *(sensor->testDataPtr());
+    // get the sampled data and 
+    // perform whatever action you want
+    float data = sensor->getData();
     printf("Test data : %f \n", data);
 }