DYNAMIXEL SDK

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CPP Linux

Compiler and Builder

Compiler

The DYNAMIXEL SKD requires 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
```

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) of the library you will be bulding. The Makefile is located in the following folder: [DynamixelSDK folder]/cpp/build/linux32 OR [DynamixelSDK folder]/cpp/build/linux64 folder for 32/64-bit platforms OR [DynamixelSDK folder]/cpp/build/linux_sbc folder for ARM SBCs.
Please note that if you intend to use the 32-bit example applications, you must 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, try rebuilding the package after cleaning any leftover files.
```
$ make clean && make
```
To delete the library file and object files after a successful build:
```
$ 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, you can retry the installation:

$ 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

Building and Running the Sample Code

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

The previous instructions walk you thorough building the latest library files [DynamixelSDK folder]/c++/build/[linuxXX]/libdxl_xYY_cpp.so with its own source code.

Go to the Makefile’s directory using cd:
To build executable file, type:
```
$ make
```
If there is an error, $ make clean then $ make again.
To delete the executable file, $ make clean.
```
$ make clean
```
Access the port you will be using to communicate with DYNAMIXEL:
```
$ sudo chmod a+rw /dev/ttyUSB0
```
Run the executable code
```
$ ./read_write
```