diff --git a/LIDAR.cpp b/LIDAR.cpp
index 3785df7cb92e663c1064151da0e81f0a9d6ab247..86f9ad708c075fbff2092043ba7c097b0ddf9a9b 100644
--- a/LIDAR.cpp
+++ b/LIDAR.cpp
@@ -1,2 +1,12 @@
-#include "../rplidar_sdk/sdk/sdk/include/rplidar.h" 
-#include "../rplidar_sdk/sdk/sdk/include/rplidar_driver.h"
+#include "./rplidar_sdk/sdk/sdk/include/rplidar.h" 
+#include "./rplidar_sdk/sdk/sdk/include/rplidar_driver.h"
+#include <stdio.h>
+#include <stdlib.h>
+
+
+
+int main(int argc, char const *argv[])
+{
+    
+    return 0;
+}
diff --git a/Makefile b/Makefile
index 94f858f7cadbe071a796b8e89c4303971bd379da..4e69dfb9eeda28dad10e25b145cdaa5457a1756b 100644
--- a/Makefile
+++ b/Makefile
@@ -1,54 +1,70 @@
 
+.PHONY : clean all
+
+++ = g++
+
+
+FLAGS = -lwiringPi -Wall
+
+SRCS := $(wildcard *.c)
+BINS := $(SRCS:%.c=%)
+
+all : ${BINS}
+
+%.o : %.c 
+	${++} -c -o $@ $< ${FLAGS} 
+
+
 # commande de lancement
-switch : compile_switch
-	sudo ./switch
+# switch : compile_switch
+# 	sudo ./switch
+
+# motor : compile_motor
+# 	sudo ./motor
 
-motor : compile_motor
-	sudo ./motor
+# i2c : compile_LED
+# 	sudo ./i2c
 
-i2c : compile_LED
-	sudo ./i2c
+# uart : compile_UART
+# 	sudo ./uart
 
-uart : compile_UART
-	sudo ./uart
+# spi : compile_spi
+# 	sudo ./spi
 
-spi : compile_spi
-	sudo ./spi
+# encoder : compile_encoder
+# 	sudo ./encoder
 
-encoder : compile_encoder
-	sudo ./encoder
+# lidar : compile_lidar
+# 	sudo ./LIDAR
 
-lidar : compile_lidar
-	sudo ./LIDAR
+# oled :	compile_oled
+# 	sudo ./oled
 
-oled :	compile_oled
-	sudo ./oled
+# # compilations
+# compile_switch :
+# 	g++ -o switch switch.cpp -lwiringPi
 
-# compilations
-compile_switch :
-	g++ -o switch switch.cpp -lwiringPi
+# compile_motor :
+# 	gcc -o motor motor.c -lwiringPi
 
-compile_motor :
-	gcc -o motor motor.c -lwiringPi
+# compile_LED :
+# 	g++ -o i2c I2C.cpp -lwiringPi
 
-compile_LED :
-	g++ -o i2c I2C.cpp -lwiringPi
+# compile_UART :
+# 	g++ -o uart uart.cpp -lwiringPi
 
-compile_UART :
-	g++ -o uart uart.cpp -lwiringPi
+# compile_spi : 
+# 	g++ -o spi spi.cpp 
 
-compile_spi : 
-	g++ -o spi spi.cpp 
+# compile_encoder : 
+# 	g++ -o encoder encoder.cpp -l wiringPi
 
-compile_encoder : 
-	g++ -o encoder encoder.cpp -l wiringPi
+# compile_lidar : 
+# 	g++ -o LIDAR LIDAR.cpp -l wiringPi
 
-compile_lidar : 
-	g++ -o LIDAR LIDAR.cpp -l wiringPi
+# compile_oled :
+# 	g++ -o oled OLED.cpp -l wiringPi
 
-compile_oled :
-	g++ -o oled OLED.cpp -l wiringPi
 
-.PHONY : clean
 clean :
-	rm -rf switch motor led i2c uart spi encoder
+	rm -rf %
diff --git a/rplidar_sdk/sdk/app/ultra_simple/main.cpp b/rplidar_sdk/sdk/app/ultra_simple/main.cpp
index b80b2eda1c3366654b466a7fc00a2f6e96747f45..3cb51ce3b960c763260ed3221144192455b39c42 100644
--- a/rplidar_sdk/sdk/app/ultra_simple/main.cpp
+++ b/rplidar_sdk/sdk/app/ultra_simple/main.cpp
@@ -89,8 +89,8 @@ int main(int argc, const char * argv[]) {
 
     bool useArgcBaudrate = false;
 
-    printf("Ultra simple LIDAR data grabber for RPLIDAR.\n"
-           "Version: "RPLIDAR_SDK_VERSION"\n");
+    printf("Ultra simple LIDAR data grabber for RPLIDAR.\n");
+    printf("Version: ",RPLIDAR_SDK_VERSION,"\n");
 
     // read serial port from the command line...
     if (argc>1) opt_com_path = argv[1]; // or set to a fixed value: e.g. "com3"