File content as of revision 0:a5b70e916def:

#include "mbed.h"
#include "Dynamixel.h"

void getData();
void RobotHeadControl(float x, float y, float z);
int *SplitPos(char posString[]);

Dynamixel motor(PA_15,PB_7,1000000);
Serial device(D1, D0, 115200);

char buffer[100];
char ch;
int index = 0;

float X_axis, Y_axis, Z_axis;

int main() 
{
    device.attach(&getData); 
    while(1)
    {
        if(buffer[strlen(buffer)-1] == '/')
        {
            X_axis = SplitPos(buffer)[0];
            Y_axis = SplitPos(buffer)[1];
            Z_axis = SplitPos(buffer)[2];
                
            RobotHeadControl(X_axis, Y_axis, Z_axis);
                
            memset(buffer,0,sizeof(buffer));
            index = 0;   
        }            
    }             
}

void getData()
{
    ch = device.getc();
    buffer[index] = ch;
    index++;    
}

void RobotHeadControl(float tilt, float pan, float swing)
{
    int speed = 400;
    
    //Set position of the Dynamixel Motor (Motor1(Swing):ID12, Motor2(Pan):ID3, Motor3(Tilt):ID2)
    tilt = ((240 + tilt)*1024)/300;
    pan = ((150 + pan)*1024)/300;
    swing = ((150 + swing)*1024)/300;
    
    motor.setPosition(2, tilt, speed);
    motor.setPosition(12, pan, speed);
    motor.setPosition(3, swing, speed);
}

int *SplitPos(char posString[])
{
    int count = 0;
    static int position[3];
    char delim[] = "(),/";
    char *ptr = strtok(posString, delim);
    

    while (ptr != NULL)
    {
        //atoi is a function to convert string to int
        position[count] = atoi(ptr);
        count++;
        ptr = strtok(NULL, delim);
    }
    
    return position;
}