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Java Windows

Compiler and Builder

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

  

Required Packages

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

  

  

  OR

• Download Java Runtime Environment (JRE) (Windows 32-bit or Windows 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(.dll for Windows) built in C language.

Each released DYNAMIXEL SDK have latest library files in [DynamixelSDK folder]/c/build/[winXX]/output/dxl_xYY_c.dll which were 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

• Open Configure Build Path

  

• Click Link Additional Source to Project

  

• Click Browse

  

• Select the folder output in c language folder, then click ok

  

• Click Finish

  

Import DynamixelSDK library

• Click Link Additional Source to Project

  

• Click Browse

  

• Select the folder x64 in java language folder, then click ok
  (for x86 platform, select [DynamixelSDK folder]/java/dynamixel_functions_java/x86)

  

• Tpye Folder name and Click Finish

  

Import JNA

• Go to Libraries tap and Click Add External JARs.

  

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

  

• Click Apply and Close

  

Run example

• 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