This tutorial is written assuming you are using the latest version of Ubuntu. Commands may not be the same for alternative distributions of Linux.

Install requirements

• The DYNAMIXEL SDK requires GNU gcc ver. 5.4.0 20160609 or higher
• To check the version of your gcc compiler

  $ gcc -v
  

• Download the requirements

  $ sudo apt-get install gcc
  $ sudo apt-get install build-essential
  $ sudo apt-get install gcc-multilib g++-multilib # For cross-compiling
  

Build the SDK

• Check your system architecture

  $ uname -m
  

• Enter the appropriate build folder depending on your system and build the SDK

  $ cd DynamixelSDK/c/build/linux64 # for 64-bit systems
  $ sudo make install
  

• make sure to enter the correct folder according to your system architecture.
  • linux64 for 64-bit systems
  • linux32 for 32-bit systems
  • linux_sbc for ARM-based SBCs like Raspberry Pi
• If the build completes successfully, you should see the .so file generated inside the build folder.

  $ ls
  libdxl_x86_c.so Makefile
  

• Grant permission to access the port

  $ sudo chmod 666 /dev/ttyUSB0
  

• Common make commands for building the SDK

  $ make              # Compile the source code and generate binaries
  $ make install      # Install the library files to the system
  $ make clean        # Remove all build files and reset the build environment
  $ make uninstall    # Remove files installed by 'make install' from the system
  $ make reinstall    # Reinstall by cleaning, rebuilding, and installing again
  

Building and Running the Sample Code

The DYNAMIXEL SDK example code for C uses a .so (Linux Shared Object) library built in C.
The previous instructions walk you through building the latest library files in [DynamixelSDK folder]/c/build/[linuxXX]/libdxl_xYY_c.so built by its own source code.

• Go to the Makefile’s directory using cd:

  $ cd [DynamixelSDK folder]/c/example/protocol1.0/read_write/linux32
  

  OR

  $ cd [DynamixelSDK folder]/c/example/protocol1.0/read_write/linux64
  

  

• Build the executable file:

  $ make
  

  

• If there is an error, $ make clean then $ make again.

• To delete the executable file, $ make clean.

  

• Access the port you will be using to communicate with DYNAMIXEL:

  $ sudo chmod a+rw /dev/ttyUSB0
  

  

• Run the executable file:

  $ ./read_write
  

  

Install requirements

• Download Visual Studio Community for Windows Desktop

  

Build the SDK

• Open the project solution file (.sln) located in the [DynamixelSDK folder]/c/build/win32 directory OR [DynamixelSDK folder]/c/build/win64 directory).

  

• In the Solution Explorer, right click on the project and select Properties.

  

• Under General Configuration Properties, confirm that the paths and file extensions are set to the following:

  • Output Directory: $(SolutionDir)output\
  • Intermediate Directory: $(Configuration)\
  • Platform Toolset: Visual Studio 20XX (v000)
  • Configuration Type: Dynamic Library (.dll).

• Confirm that the Additional Include Directories path under the General C/C++ Configuration Properties tree is as follows:

  ..\..\..\include\dynamixel_sdk

  

• Right click on the project and select Build to build the library.

  

• The built library file will be saved to [DynamixelSDK folder]/c/build/[winXX]/output/dxl_xYY_c.dll.

Building and Running the Sample Code

The DYNAMIXEL SDK sample code for C uses the library files (.dll for Windows) compiled from the C language source.

By following the instructions above, The compiled .dll files are output to [DynamixelSDK folder]/c/build/[winXX]/output/dxl_xYY_c.dll after being built from the included source code.

• Run the .sln file located in the [DynamixelSDK folder]/c/example/protocol2.0/read_write/win32 folder if you have a 32-bit platform OR the [DynamixelSDK folder]/c/example/protocol2.0/read_write/win64 folder if you have a 64-bit platform.

  

• Right click on the project and select Properties.

  

• In the resulting Property Pages window, under Configuration Properties –> General, check that the directories and file extensions are set as follows:

  • Output Directory: $(SolutionDir)$(Configuration)\
  • Intermediate Directory: $(Configuration)\
  • Target Extension: .exe

  • Configuration Type: Application (.exe)

    

• Under Configuration Properties –> Debugging add the following path to your Environment:
  • win32: PATH=%PATH%;..\..\..\..\..\build\win32\output;

  • win64: PATH=%PATH%;..\..\..\..\..\build\win64\output;

    

• Under Configuration Properties –> VC++ Directories, add the following path to Library Directories:
  • win32: ..\..\..\..\..\build\win32\output;

  • win64: ..\..\..\..\..\build\win64\output;

    

• Under Configuration Properties –> C/C++ –> General, add the following path to Additional Include Directories:

  ..\..\..\..\..\include\dynamixel_sdk

  

• Under Configuration Properties –> Linker –> Input, add the following file to Additional Dependencies:

  • win32: dxl_x86_c.lib;

  • win64: dxl_x64_c.lib;

    

• Click on the Local Windows Debugger button to run the program.

  

Maintenance is in progress. We apologize for your inconvenience. The manual is available in the near future.