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Library Setup

C MacOSX

Compiler and Builder

Compiler

$ gcc -v 
$ sudo apt-get install gcc-5

Builder

$ sudo apt-get install build-essential

Dependent Packages

$ sudo apt-get install gcc-multilib g++-multilib

Build the Library

Please note that if you will be building the 64-bit example source, you should build the 64-bit library.

$ make

$ make clean && make
$ make clean

Copy (Install) the Library to the Root Directory
$ sudo make install

$ sudo make uninstall && sudo make install

OR

$ sudo make reinstall
$ sudo make uninstall

$ sudo make reinstall

Building and Running the Sample Code

The Dynamixel SDK example code for C uses a .dylib (Mac) library built in C.

By doing above, each released Dynamixel SDK have latest library files in [DynamixelSDK folder]/c/build/mac/libdxl_mac_c.dylib which were built by its own source code.

`$ cd [DynamixelSDK folder]/c/example/protocol1.0/read_write/mac` 

`$ make`

`$ sudo chmod a+rw /dev/tty.usbserial-xxxx`

`$ ./read_write`