Setting up the Dynamixels on a new computer

Before running OARS code to control the Dynamixels, you must first install the official Robotis DynamixelSDK library.

1. Open up a terminal, but don't cd into the OARS Git repo. We want to keep this code separate.
2. Run git clone https://github.com/ROBOTIS-GIT/DynamixelSDK.git to clone the DynamixelSDK repository.
3. Make sure the necessary compiling prerequisites are installed by running sudo apt-get install -y build-essential.
4. Now run cd DynamixelSDK/c/build/
5. Inside the build folder are a bunch of different folders for different platforms and processor architectures. If you're on Linux, run uname -m.
6. Now cd into the correct folder for your computer. If you're on a Linux laptop, it'll probably mean running cd linux64. If you're on an ODROID, Raspberry Pi, or the like (with an ARM processor), it'll mean running cd linux_sbc ("sbc" stands for single-board computer).
7. Run make to compile the driver.
8. Run sudo make install to copy the compiled library to the libraries folder on your computer (/usr/local/lib on Linux).

You should now be able to run the OARS code and talk to the Dynamixels. If you're having trouble, you should make sure you're trying to connect using the right serial port in the OARS code (you can list all of the USB devices available on your computer by running ls /dev/ | grep USB).