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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).

WARNING: If the library file needs to be built in a lower or higher version of Visual Studio, change the Platform Toolset into the needed value. (ex: To use the DynamixelSDK c ver. library file in the MATLAB 2010 or LabVIEW 2010, the Platform Toolset should be changed to Visual Studio 2009 lower.)

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.

Library Setup

C Windows

Compiler and Builder

Building the Library

Building and Running the Sample Code