DYNAMIXEL SDK

CPP Linux

Download:

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

Choose which format (32bit or 64bit) do you want to build in. The Makefile is located in the following folder: [DynamixelSDK folder]/cpp/build/linux32 OR [DynamixelSDK folder]/cpp/build/linux64 folder for 64-bit platforms OR [DynamixelSDK folder]/cpp/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]/cpp/build/linux32 OR [DynamixelSDK folder]/cpp/build/linux64 OR [DynamixelSDK folder]/cpp/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
```

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_cpp.so

The DYNAMIXEL SDK sample code for CPP uses the library files(.so for Linux) built in CPP language.

You should build library files in [DynamixelSDK folder]/c++/build/[linuxXX]/libdxl_xYY_cpp.so with its own source code as shown above.

Choose which format (32bit or 64bit) do you want to build in. The Makefile file for building source is in [DynamixelSDK folder]/c++/example/protocol1.0/read_write/linux32 or [DynamixelSDK folder]/c++/example/protocol1.0/read_write/linux64 folder. If you want to build example source in 32bit, for instance, you should build this library in 32bit as well.
On the terminal, go to the Makefile located folder /c++/example/protocol1.0/read_write/linux32, for example, using cd.
To build executable file, type:
```
$ make
```

If it shows some error, try make clean and make it again.