diff --git a/main.cpp b/main.cpp
old mode 100644
new mode 100755
index 0362a14..e81a80b
--- a/main.cpp
+++ b/main.cpp
@@ -12,27 +12,79 @@ float _minJointCmd = 0;
 float _maxJointCmd = 1023;
 float _minJointAngle = -180.0f;
 float _maxJointAngle = 180.0f;
-int main()
-{ std::cout << "===Initialization of the Dynamixel Motor communication====" << std::endl;
-_oDxlHandler.setDeviceName(_poppyDxlPortName);
-_oDxlHandler.setProtocolVersion(_poppyDxlProtocol);
-_oDxlHandler.openPort();
-_oDxlHandler.setBaudRate(_poppyDxlBaudRate);
-_oDxlHandler.enableTorque(true);
-std::cout << std::endl;
-// read current joint position
-std::vector<uint16_t> l_vCurrentJointPosition;
-_oDxlHandler.readCurrentJointPosition(l_vCurrentJointPosition);
-// display current joint position
-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;
-// wait 1s
-std::this_thread::sleep_for(std::chrono::milliseconds(1000));
-std::cout << "===Closing the Dynamixel Motor communication====" << std::endl;
-_oDxlHandler.enableTorque(false);
-_oDxlHandler.closePort();
-std::cout << std::endl;
-return 0;
+
+int convertAnglesToJointCmd(float fJointAngle)
+{ 
+	// y = ax + b
+	float a = (_maxJointCmd-_minJointCmd) / (_maxJointAngle - _minJointAngle);
+	float b = _minJointCmd - a * _minJointAngle;
+	float jointCmd = a * fJointAngle + b;
+	return (int)jointCmd;
 }
+
+void goToHomePosition()
+{ 
+	std::vector<uint16_t> l_vTargetJointPosition;
+	for (int l_joint = 0; l_joint < _nbJoints; l_joint++)
+		l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
+	_oDxlHandler.sendTargetJointPosition(l_vTargetJointPosition);
+}
+void CurrentTorque()
+{
+	std::vector<uint16_t> l_vTargetJointPosition;
+	for (int l_joint = 5; l_joint < _nbJoints; l_joint++)
+		l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
+	_oDxlHandler.sendTargetJointPosition(l_vTargetJointPosition);
+}
+void goToNewPosition()
+{
+	std::vector<uint16_t> l_vCurrentJointPosition;
+	_oDxlHandler.readCurrentJointPosition(l_vCurrentJointPosition);
+	// display current joint position
+	std::cout << "newCurrentJointPosition= (" << std::endl;
+	
+	for (int l_joint=0; l_joint < l_vCurrentJointPosition.size(); l_joint++)
+		std::cout << l_vCurrentJointPosition[l_joint] << ", ";
+		
+	std::cout << ")" << std::endl;
+}	
+
+int main()
+{ 
+	std::cout << "===Initialization of the Dynamixel Motor communication====" << std::endl;
+	_oDxlHandler.setDeviceName(_poppyDxlPortName);
+	_oDxlHandler.setProtocolVersion(_poppyDxlProtocol);
+	_oDxlHandler.openPort();
+	_oDxlHandler.setBaudRate(_poppyDxlBaudRate);
+	_oDxlHandler.enableTorque(true);
+	std::cout << std::endl;
+	
+	// read current joint position
+	std::vector<uint16_t> l_vCurrentJointPosition;
+	_oDxlHandler.readCurrentJointPosition(l_vCurrentJointPosition);
+	// display current joint position
+	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;
+	// read current torque
+	std::vector<uint16_t>l_vCurrentJointTorque;
+	
+	
+	//goToHomePosition();
+	//goToNewPosition();
+	CurrentTorque();
+	// wait 1s
+	std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+	std::cout << "===Closing the Dynamixel Motor communication====" << std::endl;
+	_oDxlHandler.enableTorque(false);
+	_oDxlHandler.closePort();
+	std::cout << std::endl;
+	
+	
+	return 0;
+
+}
+