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This tutorial will show how to configure and program the Dynamixels servos in Cusing Visual Studio and the library provided by Dynamixel.Also , will show how to configure and program the Flea3 camera in C++ using Visual Studio and the library FlyCapture. ---- ===== USB2Dynamixel installation ===== First step is to check if your USB2dynamixel hardware is working good and recognizing the servos connected to it. Download the [[http://www.robotis.com/xe/download_en
*Download Dynamixel SDK in the [[https://github.com/ROBOTIS-GIT/DynamixelSDK/tree/master/c%2B%2B|github repository]] *Go to the subfolder: DynamixelSDK-master\c++\build\win64 and open the dxl_x64_cpp solution. Build the solution in Release and x64. (this will create the dll in the output folder to be included in the envinment variables).
*Open your Visual Studio and start a project where you already have the OpenCV included (see the OpenCV tutorials page to see how to include OpenCV into Visual Studio *Right click in your solution in the solution explorer and go to properties
*Under C++ > general > additional include directories include the path : DynamixelSDK-master\c++\include ( depend on where you saved the github repository. *Under Linker > general > additional include directories include the path: DynamixelSDK-master\c++\build\win64\output ( depend on where you saved the github repository. *Under Linker > input > additional dependencies add the library dxl_x64_cpp.lib
*Go to your file explorer , right click into your PC icon , and go to properties and click into advanced system settings
Click in environment variables and under system variables find the variable path and click in edit Include the path : DynamixelSDK-master\c\build\win64\output.
The control of the dynamixel servos in C++ for the most applications is very straight forward. You will only read / write information through the serial port , and the information depends on the address that you put in the API.
Depending on your Dynamixel model , the address for certain properties can be different , so check before the address table of your dynamixel. For example , using the modelmx-64 this how the address table looks like:
The first column is the address that we will provide to the API , the second and third column is what this address represents , and the fourth column says what is the use ( Read (R) or write (W) or both (RW) ).
If we want to read the present position of any of the dynamixels connected to the USB2Dynamixel , this is done by using the API to read , providing address corresponding to present position and the Dynamixel ID .