diff --git a/DynamixelHandler.o b/DynamixelHandler.o
new file mode 100644
index 0000000..0b17c1d
Binary files /dev/null and b/DynamixelHandler.o differ
diff --git a/Makefile b/Makefile
index b270a52..435a008 100644
--- a/Makefile
+++ b/Makefile
@@ -2,24 +2,6 @@
 #$ g++ -c -I./toolkit-dynamixel/include main.cpp
 #$ g++ DynamixelHandler.o main.o –L/usr/local/lib –ldxl_x64_cpp -lrt
 
-CC = g++
-CFLAGS = -Wall -Werror -std=c++11
-
-SRCDIR = src
-OBJDIR = obj
-BINDIR = bin
-
-SOURCES := $(wildcard $(SRCDIR)/*.cpp)
-OBJECTS := $(patsubst $(SRCDIR)/%.cpp,$(OBJDIR)/%.o,$(SOURCES))
-EXECUTABLE := $(BINDIR)/main.cpp
-
-all: $(EXECUTABLE)
-
-$(EXECUTABLE): $(OBJECTS)
-	$(CC) $(CFLAGS) $(OBJECTS) -o $@
-
-$(OBJDIR)/%.o: $(SRCDIR)/%.cpp
-	$(CC) $(CFLAGS) -c $< -o $@
-
-clean:
-	rm -f $(EXECUTABLE) $(OBJECTS)
+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
diff --git a/main.cpp b/main.cpp
index fee3d5f..0362a14 100644
--- a/main.cpp
+++ b/main.cpp
@@ -24,10 +24,10 @@ std::cout << std::endl;
 std::vector<uint16_t> l_vCurrentJointPosition;
 _oDxlHandler.readCurrentJointPosition(l_vCurrentJointPosition);
 // display current joint position
-std::cout << “vCurrentJointPosition= (” << std::endl;
+std::cout << "vCurrentJointPosition= (" << std::endl;
 for (int l_joint=0; l_joint < l_vCurrentJointPosition.size(); l_joint++)
-std::cout << l_vCurrentJointPosition[l_joint] << “, “;
-std::cout << “)” << std::endl;
+std::cout << l_vCurrentJointPosition[l_joint] << ", ";
+std::cout << ")" << std::endl;
 // wait 1s
 std::this_thread::sleep_for(std::chrono::milliseconds(1000));
 std::cout << "===Closing the Dynamixel Motor communication====" << std::endl;
diff --git a/main.o b/main.o
new file mode 100644
index 0000000..dc0044e
Binary files /dev/null and b/main.o differ
diff --git a/toolkit-dynamixel b/toolkit-dynamixel
new file mode 160000
index 0000000..94e8849
--- /dev/null
+++ b/toolkit-dynamixel
@@ -0,0 +1 @@
+Subproject commit 94e8849aa1dce1c20b6ef1d0245d06a765cccaca