diff --git a/makefile b/makefile
new file mode 100644
index 0000000..04d5e5b
--- /dev/null
+++ b/makefile
@@ -0,0 +1,11 @@
+all: DynamixelHandler main
+	g++ -o main.exe main.o DynamixelHandler.o -L/usr/local/lib -ldxl_x64_cpp -lrt 
+	
+DynamixelHandler: toolkit-dynamixel/src/DynamixelHandler.cpp
+	g++ -c -I./toolkit-dynamixel/include toolkit-dynamixel/src/DynamixelHandler.cpp -o DynamixelHandler.o
+	
+main: main.cpp
+	g++ -c -I./toolkit-dynamixel/include  main.cpp
+	
+clean:
+	rm main.exe main.o DynamixelHandler.o