Shundo Kishi / Mbed 2 deprecated Hobby_Humanoid_controlor

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Dependencies:   Adafruit-PWM-Servo-Driver MPU6050 RS300 mbed

Diff: SCI.cpp

Revision:
13:711f74b2fa33
Parent:
12:6cd135bf03bd
Child:
14:522bb06f0f0d
--- a/SCI.cpp	Sun Feb 03 04:53:44 2013 +0000
+++ b/SCI.cpp	Sun Feb 03 21:22:21 2013 +0000
@@ -1,5 +1,6 @@
 #include "mbed.h"
 #include "SCI.h"
+#include <sstream>
 
 SCI::SCI(PinName tx, PinName rx)
 {
@@ -11,14 +12,17 @@
     delete serial;
 }
 
-char SCI::getid()
+int SCI::getid()
 {
-    char comm, id;
+    char comm;
+    int id = 255;
     comm = getc_nowait();
     if (comm == 'A') {
         serial->putc(comm);
-        serial->printf("command");
-        id = getc_wait();
+        stringstream sstr;
+        sstr << getc_wait();
+        sstr >> id;
+        serial->printf("id = %d \r\n", id);
     }
     return id;
 }
@@ -26,9 +30,10 @@
 char SCI::getc_wait()
 {
     while (!serial->readable()) {
-        serial->printf("waiting..");
+        //serial->printf("waiting..");
     }
-    return serial->getc();
+    char val = serial->getc();
+    return val;
 }
 
 char SCI::getc_nowait()
@@ -40,6 +45,11 @@
     return buf;
 }
 
+void SCI::printf(char* str)
+{
+    serial->printf(str);
+}
+
 /*uint16_t readint(void)
 {
     uint8_t buff[16];