unsigned char Xbee::readloop()
    unsigned char binary;
    string binstr;
    printf("Enter a binary number from 00000000 to 00011111 \n");
    cin >> binstr;
    while (StrErrorCheck(binstr) == true) {
        printf("Error: Please input again\n");
        cin >> binstr;
    }
    binary = bstr2dec(binstr);
    return binary;
}


unsigned char Xbee::bstr2dec(string str)
{
    unsigned char result = 0;
    unsigned int i;

    for (i = 0; i < str.length(); i++) {
        result = 2 * result + (str[i] - '0');
    }
    return result;
}

bool Xbee::StrErrorCheck(string str) {
    bool error = false;
    unsigned int i;
    if (str.length() > 8 || str.length() == 0) {
        error = true;
    }
    for (i = 0; i < str.length(); i++) {
        if( (str[i] != '1') && (str[i] != '0') ) {
            error = true;
        }
        if( (i == 5 || i == 6 || i == 8) && (str[i] == 1) ) {
            error = true;
        }
    }
    return error;
}