diff --git a/makefile.txt b/makefile.txt
new file mode 100644
index 0000000..ace4974
--- /dev/null
+++ b/makefile.txt
@@ -0,0 +1,12 @@
+all: dynamixel main
+	g++ DynamixelHandler.o main.o -L/usr/local/lib -ldxl_x64_cpp -lrt
+
+dynamixel: /home/ros/EENG3/IntroRoboticsLab1/toolkit-dynamixel/src/DynamixelHandler.cpp
+	g++ -c -I./toolkit-dynamixel/include toolkit-dynamixel/src/DynamixelHandler.cpp -I./toolkit-dynamixel/include toolkit-dynamixel/src/DynamixelHandler.cpp
+	
+main: main.cpp
+	g++ -c -I./toolkit-dynamixel/include main.cpp
+
+clean: 
+	rm *.o
+	rm*.out
\ No newline at end of file