diff --git a/Makefile b/Makefile
index e5cfc46..dcec969 100644
--- a/Makefile
+++ b/Makefile
@@ -2,9 +2,15 @@
 #$ g++ -c -I./toolkit-dynamixel/include main.cpp
 #$ g++ DynamixelHandler.o main.o –L/usr/local/lib –ldxl_x64_cpp -lrt
 
-all: g++ -c -I./toolkit-dynamixel/include toolkit-dynamixel/src/DynamixelHandler.cpp
-dynamixel: g++ -c -I./toolkit-dynamixel/include toolkit-dynamixel/src/DynamixelHandler.cpp
-main: g++ -c -I./toolkit-dynamixel/include main.cpp
-clean:{
-rm *.o
-rm *.out}
+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
diff --git a/main.cpp b/main.cpp
index 471794a..e3efb2c 100644
--- a/main.cpp
+++ b/main.cpp
@@ -13,7 +13,7 @@ float _maxJointCmd = 1023;
 float _minJointAngle = -180.0f;
 float _maxJointAngle = 180.0f;
 
-nt convertAnglesToJointCmd(float fJointAngle)
+int convertAnglesToJointCmd(float fJointAngle)
 { // y = ax + b
 float a = (_maxJointCmd-_minJointCmd) / (_maxJointAngle - _minJointAngle);
 float b = _minJointCmd - a * _minJointAngle;
diff --git a/main.o b/main.o
index dc0044e..c128001 100644
Binary files a/main.o and b/main.o differ