> How can I refer to the shopping cart using document.getElementById if it
> does not have an id?

You can't.

This is where jQuery is your friend:

$(".pane-uc-cart-0").val()

...will get the value of the FIRST element with the pane-uc-cart-0 class.

jQuery ships with Drupal, and is automatically added whenever there is 
JavaScript, so you don't need to add the jQuery library using drupal_add_js().

FYI, class names in Drupal are usually added left-to-right, from least-specific 
to most-specific. So, the last class is the one that is the most specific to 
that particular element.

-Karl.                                    

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