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Library Setup

C Windows

Compiler and Builder

• Download Visual Express for Windows Desktop

  

Building the Library

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

  

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

  

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

  • Output Directory: $(SolutionDir)output\
  • Intermediate Directory: $(Configuration)\
  • Target Extension: .dll
  • 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 is located in [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) built in C language.

By doing above, each released DYNAMIXEL SDK have latest library files in [DynamixelSDK folder]/c/build/[winXX]/output/dxl_xYY_c.dll which were built by its own 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 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.