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Java Linux

Compiler and Builder

• Download the Eclipse IDE for Java (Linux 32-bit or Linux 64-bit)

  

Required Packages

• Download Java Development Kit (JDK) (Linux 32-bit or Linux 64-bit)

  

  

  OR

• Download Java Runtime Environment (JRE) (Linux 32-bit or Linux 64-bit)

  

Java Native Access(JNA)

• Download jnaX.Y.Z.jar

  

• Move folder to [DynamixelSDK folder]/java/dynamixel_functions_java/

  

Function Reference

• The function reference file is located in [DynamixelSDK folder]/java/dynamixel_functions_java/x86 or x64/Dynamixel.java

  

  

  

Building and Running the Sample Code

The DYNAMIXEL SDK example code for Java uses the library files(.so for Linux) built in C language.

Each released DYNAMIXEL SDK have latest library files in [DynamixelSDK folder]/c/build/[linuxXX]/libdxl_xYY_c.so which should be built by its own source code.

Make Java Project

• Set workspace

  

• Make new project. Click New - Project...

  

• Select Java Project, then click Next

  

• Type Project Name, then click Next

  

Import function reference

• Click Link Additional Source to Project

  

• Click Browse

  

• Select the folder linux64 in c language folder, then click ok
  (for x86 platform, select [DynamixelSDK folder]/java/dynamixel_functions_java/linux32)

  

• Click Finish

  

Import DynamixelSDK library

• Click Link Additional Source to Project

  

• Click Browse

  

• Select the folder x64 in java language folder, then click ok

  

• Click Finish

  

Import JNA

• Go to Libraries on the screen.

  

• Click Add External JARs

  

• Choose the jna-X.Y.Z.jar downloaded previously.

  

• Click Finish

  

Run example

• Make the port be able to be used

  $ sudo chmod a+rw /dev/ttyUSB0
  

  

• Put ReadWrite.java source into the folder src on the screen

  

• Adjust the values surrounded with red circle to proper value as shown in the comment.

  

• Click Run in the Eclipse toolbox above. Console window will show the results