Library Setup <C++ Linux>

This section provides instructions on building the SDK.

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_cpp.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

Library Setup <C++ Windows>

This section provides instructions on building the SDK.

Install requirements

In this section, we used visual studio as the IDE for building the SDK.

Download Visual Studio Community for Windows Desktop

Build the SDK

NOTE: This instruction assumes a 64-bit Windows system. If you are using 32-bit Windows, simply follow the same steps using the 32-bit version instead.

Open the project solution file (dxl_x64_cpp.sln) located in the [DynamixelSDK folder]/c++/build/win64 directory.
If below dialog appears, select OK. This will adjust the toolset settings depending on your version of Visual Studio and Windows.
In the Solution Explorer on the right side, right-click the dxl_x64_cpp solution and select Build.

The SDK build is complete.
If the build was successful, the compiled library file will be saved at : [DynamixelSDK folder]/c++/build/[win64]/output/dxl_x64_cpp.dll

Check Build Properties

You can check or change the build properties through right-clicking on the project in the Solution Explorer and selecting Properties.
Build properties is shown as below
- Output Directory: $(SolutionDir)output\
- Intermediate Directory: $(Configuration)\
- Platform Toolset: Visual Studio 20XX (v000)
- Configuration Type: Dynamic Library (.dll)
- Additional Include Directories: ..\..\..\include\dynamixel_sdk

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.)

Library Setup <C++ macOS>

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