File content as of revision 2:e5458113c26b:

/*
 * Demo that communicates with the MiniSSC 2. This also works with the Pololu Mini Maestro.
 */

#include "mbed.h"
#include "minissc.h"

// MiniSSC2's Constructor
MiniSSC2::MiniSSC2(int num_motors, int baud, PinName tx, PinName rx) {
    this->num_motors = num_motors;
    p_device = new Serial(tx, rx); // (tx, rx) opens up new serial device (p_device is Serial* pointer)
    p_device->format(8, Serial::None, 1);
    p_device->baud(baud); // Set the baud.
    set(127);   // The motors should start stationary (zero power)
}

// MiniSSC2's Destructor
MiniSSC2::~MiniSSC2() {
    if (p_device != NULL) {
        // must do this. otherwise, you'll have memory leakage & you may not be able to re-open the serial port later
        delete p_device;
    }
}

void MiniSSC2::send() {
    for (int i = 0; i < num_motors; i++) {
        send(i);
    }
}

void MiniSSC2::send(int i_motor) {
    // format: {sync byte, motor id, motor power, newline}
    // example: {SSC_SYNC_BYTE, 2, 24, '\n'} sets motor 2 to power level 24
    p_device->putc(SSC_SYNC_BYTE);
    p_device->putc((unsigned char)i_motor);
    p_device->putc(motors[i_motor]);
}

void MiniSSC2::set(unsigned char value) {
    for (int i = 0; i < num_motors; i++) {
        set(i, value);
    }
}

void MiniSSC2::set(int i_motor, unsigned char value) {
    motors[i_motor] = value;
}

unsigned char MiniSSC2::get(int i_motor) {
    return motors[i_motor];
}

void ssc_send_cb() {
    PC.printf("Sent (callback)\n");
    ssc.send(); // is there a more efficient way to do this?
}

/* MAIN FUNCTION */
int main() {
    led1 = 1;
    wait_ms(500);
    //ssc_to.attach(&ssc_send_cb, 1); // run ssc_send_cb() at 10 Hz (Ticker) (increase if possible)
    PC.baud(115200);
    
    PC.printf("\n\r\n\rHello.");
    
    while (true) {
        for (int i = 0; i < 4; i++) {
            unsigned char in = 127;
            PC.printf("> ");
            PC.scanf("%d", &in);
            ssc.set(i, in);
            PC.printf("\n\rSaved motor %d, power %d\n\r", i, (int)in);
        }
        ssc.send();
        PC.printf("Sent all motors\n\r\n\r");
    }
}
// Don't delete this comment