How do I install drivers on Kali Linux?

I am trying to setup a driver for Kali Linux. It is a Panda Wireless usb wifi dongle. But the problem is that I getting thrown errors when trying to compile the package. Here is the instructions.http://www.pandawireless.com/download/PWUsersManual4Linux_v1.0s.pdf
It is meant for Fedora, but I think it could work. I'm at the part where I compile the driver. Plez help.