DYNAMIXEL SDK

C Linux

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

Compiler and Builder

Compiler

The DYNAMIXEL SKD requires GNU gcc ver. 5.4.0 20160609 or higher
To check the version of your gcc compiler:
```
$ gcc -v 
```
Download the required compiler:
```
$ sudo apt-get install gcc
```

Builder

Build-essential pkg → make
Download:
```
$ sudo apt-get install build-essential
```

Dependent Packages

Packages needed for cross-compiling

Download:

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

Build the Library

Choose which format (32bit or 64bit) of the library you will be bulding. The Makefile is located in the following folder: [DynamixelSDK folder]/c/build/linux32 OR [DynamixelSDK folder]/c/build/linux64 folder for 32/64-bit platforms OR [DynamixelSDK folder]/c/build/linux_sbc folder for ARM SBCs.
Please note that if you intend to use the 32-bit example applications, you must build the 32-bit library.
Go to the Makefile’s directory located in [DynamixelSDK folder]/c/build/linux32 OR [DynamixelSDK folder]/c/build/linux64 OR [DynamixelSDK folder]/c/build/linux_sbc using $ cd.
Build the library file:
```
$ make
```
If there is an error, try rebuilding the package after cleaning any leftover files.
```
$ make clean && make
```
To delete the library file and object files after a successful build:
```
$ make clean
```

Copy (Install) the Library to the Root Directory

Make the library file and copy it to the root directory (to handle the serial port):
```
$ sudo make install
```

If there is an error, you can retry the installation:

$ sudo make uninstall && sudo make install

$ sudo make reinstall

To delete the library file from the root directory:
```
$ sudo make uninstall
```
You will see the built library file in [DynamixelSDK folder]/c/build/[linuxXX]/libdxl_xYY_c.so

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

$ 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
```