DYNAMIXEL SDK

Edit on GitHub

C Linux

Compiler and Builder

Compiler

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-5
```

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) do you want to build in.
The Makefile is located in the following folder: [DynamixelSDK folder]/c/build/linux32 OR [DynamixelSDK folder]/c/build/linux64 folder for 64-bit platforms OR [DynamixelSDK folder]/c/build/linux_sbc folder for SBCs.
Please note that if you will be building the 32-bit example source, you should 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.
To build the library file:
```
$ make
```
If there is an error:
```
$ make clean && make
```
To delete the library file and object files:
```
$ make clean
```

Copy (Install) the Library to the Root Directory

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

If there is an error:

$ sudo make uninstall && sudo make install

$ sudo make reinstall

To delete the library file from the root directory:
```
$ sudo make uninstall
```
To recopy the library file to the root directory:
```
$ sudo make reinstall
```
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) library built in C.
By doing above, each released DYNAMIXEL SDK have latest library files in [DynamixelSDK folder]/c/build/[linuxXX]/libdxl_xYY_c.so which were 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
```