Paul Benson scored twice and Matt Ritchie, Aden Flint and substitute Alan Connell were also on target as Swindon were crowned League Two champions.
But, despite the heavy defeat, Adams was happy with his side's start to the match.
He said: "It was always going to be a big ask to come here and get a result against a team fighting for the title.
"We started well and probably had the better chances in the first half but once they scored the floodgates opened."
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