Edit on GitHub

CPP 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
  • 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_cpp.dll

Building and Running the Sample Code

The DYNAMIXEL SDK example code for CPP uses the library files(.dll for Windows) built in CPP language.

Each released DYNAMIXEL SDK have latest library files in [DynamixelSDK folder]/c++/build/[winXX]/output/dxl_xYY_cpp.dll which were built by its own source code.

• Run .sln file in [DynamixelSDK folder]/c++/example/protocol2.0/read_write/win64 folder(or win32 folder, if controller is 32bit platform)

  

• Open project properties. To view this, select a project in solution explorer. Then, choose Properties on the Project menu.

  

• Check if the file extension is set correctly as shown below.

  • Output Directory: $(SolutionDir)$(Configuration)\
  • Intermediate Directory: $(Configuration)\
  • Target Extension: .exe
  • Configuration Type: Application (.exe)

  

• Add path in Debugging-Environment tab as shown below.

  • [win32] PATH=%PATH%;..\..\..\..\..\build\win32\output;

  • [win64] PATH=%PATH%;..\..\..\..\..\build\win64\output;

    

• Add path in VC++-Library Directories tab as shown below.

  • [win32] ..\..\..\..\..\build\win32\output;

  • [win64] ..\..\..\..\..\build\win64\output;

    

• Add path in C/C++-Common-Additional include directory tab as shown below.

  ..\..\..\..\..\include\dynamixel_sdk

  

• Add file name in Linker-Input-Additional dependency tab as shown below.

  • [win32] dxl_x86_cpp.lib;

  • [win64] dxl_x64_cpp.lib;

    

• Click Debugger button to run the program