diff --git a/main.cpp b/main.cpp
index abd470d..9e985c7 100644
--- a/main.cpp
+++ b/main.cpp
@@ -4,6 +4,8 @@
 //#include<windows.h>//for windows
 #include<unistd.h>//for linux
 #include "DynamixelHandler.h"
+#include <array>
+
 
 // Global variables
 DynamixelHandler _oDxlHandler;
@@ -19,6 +21,9 @@ int _targetJointTorqueGripper = 1140;
 float _proportionnalIncrement = 0.025f;
 float _proportionnalIncrementAbove = 0.01f;
 float _threshold= 1.9;
+std::array<std::array<short unsigned int, 6>,9> notes_position = {{{1, 2, 3, 4, 5, 6}, {2, 2, 3, 4, 5, 6}, {3, 2, 3, 4, 5, 6}, {4, 2, 3, 4, 5, 6}, {5, 2, 3, 4, 5, 6}, {6, 2, 3, 4, 5, 6}, {7, 2, 3, 4, 5, 6}, {8, 2, 3, 4, 5, 6}, {9, 2, 3, 4, 5, 6}}};
+//short unsigned int notes_position[54] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54};
+
 
 int convertAnglesToJointCmd(float fJointAngle)
 { // y = ax + b
@@ -69,6 +74,41 @@ void currentPos()
 	std::cout << ")" << std::endl;
 }
 
+void teachTarget()
+{
+	_oDxlHandler.enableTorque(false);
+	
+	int noteNumber = 333;
+	
+	std::cout << "enter 555 when all the notes have been taught\n";
+	std::cout << "enter note number (starting from 0):\n"; //allows to wait until user input, and specify which note is given
+	std::cin >> noteNumber;
+	
+	while(noteNumber != 555)
+	{
+		// read current joint position
+		std::vector<uint16_t> l_vCurrentJointPosition;
+		_oDxlHandler.readCurrentJointPosition(l_vCurrentJointPosition);
+		for (int l_joint=0; l_joint < notes_position[noteNumber].size(); l_joint++)
+		{	
+			notes_position[noteNumber][l_joint] = l_vCurrentJointPosition[l_joint];
+			std::cout<<notes_position[noteNumber][l_joint]<<", ";
+			std::cout<<noteNumber << ", ";
+		}
+		currentPos(); //print position		
+	
+		std::cout << "enter note number (starting from 0):\n"; //allows to wait until user input, and specify which note is given
+		std::cin >> noteNumber;
+		
+		while (noteNumber < 0 or (noteNumber > 9 and noteNumber != 555)) // test if the input is good
+		{	std::cout << "wrong number: enter note number (between 0 and 9), or exit with 555:\n";
+			std::cin >> noteNumber;
+		}
+	}
+	
+	_oDxlHandler.enableTorque(true);
+}
+
 int closeGripper()
 {
 	//read current joint 6 torque
@@ -140,70 +180,71 @@ int closeGripper()
 void playNote(int myNote)
 {
 	goToPlayingPosition();
+	std::this_thread::sleep_for(std::chrono::milliseconds(200));
 	std::vector<uint16_t> l_vTargetJointPosition;
 	switch(myNote){
 		case 1:
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(25.0f));
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(-55.0f));
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(20.0f));
+			l_vTargetJointPosition.push_back(notes_position[0][0]);
+			l_vTargetJointPosition.push_back(notes_position[0][1]);
+			l_vTargetJointPosition.push_back(notes_position[0][2]);
+			l_vTargetJointPosition.push_back(notes_position[0][3]);
+			l_vTargetJointPosition.push_back(notes_position[0][4]);
 			break;
 		case 2:
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(-35.0f));
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(-55.0f));
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(20.0f));
+			l_vTargetJointPosition.push_back(notes_position[1][0]);
+			l_vTargetJointPosition.push_back(notes_position[1][1]);
+			l_vTargetJointPosition.push_back(notes_position[1][2]);
+			l_vTargetJointPosition.push_back(notes_position[1][3]);
+			l_vTargetJointPosition.push_back(notes_position[1][4]);
 			break;
 		case 3:
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(25.0f));
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(-55.0f));
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(20.0f));
+			l_vTargetJointPosition.push_back(notes_position[2][0]);
+			l_vTargetJointPosition.push_back(notes_position[2][1]);
+			l_vTargetJointPosition.push_back(notes_position[2][2]);
+			l_vTargetJointPosition.push_back(notes_position[2][3]);
+			l_vTargetJointPosition.push_back(notes_position[2][4]);
 			break;
 		case 4:
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(25.0f));
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(-55.0f));
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(20.0f));
+			l_vTargetJointPosition.push_back(notes_position[3][0]);
+			l_vTargetJointPosition.push_back(notes_position[3][1]);
+			l_vTargetJointPosition.push_back(notes_position[3][2]);
+			l_vTargetJointPosition.push_back(notes_position[3][3]);
+			l_vTargetJointPosition.push_back(notes_position[3][4]);
 			break;
 		case 5:
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(25.0f));
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(-55.0f));
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(20.0f));
+			l_vTargetJointPosition.push_back(notes_position[4][0]);
+			l_vTargetJointPosition.push_back(notes_position[4][1]);
+			l_vTargetJointPosition.push_back(notes_position[4][2]);
+			l_vTargetJointPosition.push_back(notes_position[4][3]);
+			l_vTargetJointPosition.push_back(notes_position[4][4]);
 			break;
 		case 6:
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(25.0f));
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(-55.0f));
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(20.0f));
+			l_vTargetJointPosition.push_back(notes_position[5][0]);
+			l_vTargetJointPosition.push_back(notes_position[5][1]);
+			l_vTargetJointPosition.push_back(notes_position[5][2]);
+			l_vTargetJointPosition.push_back(notes_position[5][3]);
+			l_vTargetJointPosition.push_back(notes_position[5][4]);
 			break;
 		case 7:
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(25.0f));
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(-55.0f));
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(20.0f));
+			l_vTargetJointPosition.push_back(notes_position[6][0]);
+			l_vTargetJointPosition.push_back(notes_position[6][1]);
+			l_vTargetJointPosition.push_back(notes_position[6][2]);
+			l_vTargetJointPosition.push_back(notes_position[6][3]);
+			l_vTargetJointPosition.push_back(notes_position[6][4]);
 			break;
 		case 8:
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(25.0f));
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(-55.0f));
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(20.0f));
+			l_vTargetJointPosition.push_back(notes_position[7][0]);
+			l_vTargetJointPosition.push_back(notes_position[7][1]);
+			l_vTargetJointPosition.push_back(notes_position[7][2]);
+			l_vTargetJointPosition.push_back(notes_position[7][3]);
+			l_vTargetJointPosition.push_back(notes_position[7][4]);
 			break;
 		case 9:
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(25.0f));
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(-55.0f));
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(20.0f));
+			l_vTargetJointPosition.push_back(notes_position[8][0]);
+			l_vTargetJointPosition.push_back(notes_position[8][1]);
+			l_vTargetJointPosition.push_back(notes_position[8][2]);
+			l_vTargetJointPosition.push_back(notes_position[8][3]);
+			l_vTargetJointPosition.push_back(notes_position[8][4]);
 			break;
 		default:
 			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(25.0f));
@@ -219,7 +260,7 @@ void playNote(int myNote)
 }
 
 int main()
-{ 
+{ 	
 	std::cout << "===Initialization of the Dynamixel Motor communication====" << std::endl;
 	_oDxlHandler.setDeviceName(_poppyDxlPortName);
 	_oDxlHandler.setProtocolVersion(_poppyDxlProtocol);
@@ -237,10 +278,12 @@ int main()
 	//int gripperTorque = closeGripper();
 	
 	goToPlayingPosition();
-	goToPlayingPosition();goToPlayingPosition();goToPlayingPosition();goToPlayingPosition();goToPlayingPosition();goToPlayingPosition();
 	currentPos();
+	teachTarget();
 	playNote(1);
 	playNote(2);
+	playNote(3);
+	goToPlayingPosition();
 	
 	// wait 1s
 	std::this_thread::sleep_for(std::chrono::milliseconds(1000));