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ACS714 Current Sensor with TM4C129

Other Parts Discussed in Thread: ENERGIA

After exploring various current sensors and their ease of programmability with TM4C microcontroller, I am leaning towards using ACS714 with the TM4C129 launchpad. 

As the description says "outputs a proportional analog voltage (66 mV/A) centered at 2.5 V with a typical error of ±1.5%.", I assume I have to follow below steps?

1. Connect the VIOUT pin of the sensor to a GPIO at TM4C129

2. Do digital read (gives me a voltage output). Or do I need anything else here?

3. Convert that voltage output to the equivalent current. 2.5V is 0 current and then doing math for the 66mV/A

I am using Energia.

Is there anything else I am missing?