diff --git a/.gitignore b/.gitignore
index 4342cc9..17d6a39 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,5 +1,5 @@
 *.swp
-bin/*
+build/*
 
 # Created by https://www.toptal.com/developers/gitignore/api/c++
 # Edit at https://www.toptal.com/developers/gitignore?templates=c++
diff --git a/Makefile b/Makefile
new file mode 100644
index 0000000..2fb9f03
--- /dev/null
+++ b/Makefile
@@ -0,0 +1,68 @@
+#
+# **************************************************************
+# *                Simple C++ Makefile Template                *
+# *                                                            *
+# * Author: Arash Partow (2003)                                *
+# * URL: http://www.partow.net/programming/makefile/index.html *
+# * Modified: Maximilian Stiefel (2021)			       *
+# *							       *
+# * Copyright notice:                                          *
+# * Free use of this C++ Makefile template is permitted under  *
+# * the guidelines and in accordance with the the MIT License  *
+# * http://www.opensource.org/licenses/MIT                     *
+# *                                                            *
+# **************************************************************
+#
+
+CXX      := -clang
+CXXFLAGS := -pedantic-errors -Wall -Wextra -Werror -std=c++20 -pthread
+LDFLAGS  := -lstdc++ -lrt -lpigpio -lm -lboost_program_options
+BUILD    := ./build
+OBJ_DIR  := $(BUILD)/objects
+APP_DIR  := $(BUILD)/app
+TARGET   := SaMcam
+INCLUDE  := -Iinclude/ -Ilib/
+SRC      :=                     \
+   $(wildcard src/drivers/*.cpp)\
+   $(wildcard src/hal/*.cpp) 	\
+   $(wildcard src/*.cpp)	\
+
+OBJECTS  := $(SRC:%.cpp=$(OBJ_DIR)/%.o)
+DEPENDENCIES \
+         := $(OBJECTS:.o=.d)
+
+all: build $(APP_DIR)/$(TARGET)
+
+$(OBJ_DIR)/%.o: %.cpp
+	@mkdir -p $(@D)
+	$(CXX) $(CXXFLAGS) $(INCLUDE) -c $< -MMD -o $@
+
+$(APP_DIR)/$(TARGET): $(OBJECTS)
+	@mkdir -p $(@D)
+	$(CXX) $(CXXFLAGS) -o $(APP_DIR)/$(TARGET) $^ $(LDFLAGS)
+
+-include $(DEPENDENCIES)
+
+.PHONY: all build clean debug release info
+
+build:
+	@mkdir -p $(APP_DIR)
+	@mkdir -p $(OBJ_DIR)
+
+debug: CXXFLAGS += -DDEBUG -g
+debug: all
+
+release: CXXFLAGS += -O2
+release: all
+
+clean:
+	-@rm -rvf $(OBJ_DIR)/*
+	-@rm -rvf $(APP_DIR)/*
+
+info:
+	@echo "[*] Application dir: ${APP_DIR}     	"
+	@echo "[*] Object dir:      ${OBJ_DIR}     	"
+	@echo "[*] Sources:         ${SRC}         	"
+	@echo "[*] Objects:         ${OBJECTS}     	"
+	@echo "[*] Dependencies:    ${DEPENDENCIES}	"
+	@echo "[*] Linker flags:    ${LDFLAGS}		"
diff --git a/include/stepper.h b/include/stepper.h
index e115660..0d72934 100644
--- a/include/stepper.h
+++ b/include/stepper.h
@@ -1,8 +1,8 @@
 #ifndef INCLUDED_HAL_STEPPER
 #define INCLUDED_HAL_STEPPER
 
-#include <include/a4988.h>
-#include <lib/json.hpp>
+#include <a4988.h>
+#include <json.hpp>
 #include <thread>
 
 namespace simon {
diff --git a/drivers/a4988.cpp b/src/drivers/a4988.cpp
similarity index 99%
rename from drivers/a4988.cpp
rename to src/drivers/a4988.cpp
index 9e4fc53..f385246 100644
--- a/drivers/a4988.cpp
+++ b/src/drivers/a4988.cpp
@@ -1,4 +1,4 @@
-#include <include/a4988.h>
+#include <a4988.h>
 #include <pigpio.h>
 #include <queue>
 #include <cmath>
diff --git a/hal/stepper.cpp b/src/hal/stepper.cpp
similarity index 99%
rename from hal/stepper.cpp
rename to src/hal/stepper.cpp
index f39042e..727a24a 100644
--- a/hal/stepper.cpp
+++ b/src/hal/stepper.cpp
@@ -1,4 +1,4 @@
-#include <include/stepper.h>
+#include <stepper.h>
 #include <thread>
 #include <functional>
 #include <iostream>
diff --git a/main.cpp b/src/main.cpp
similarity index 97%
rename from main.cpp
rename to src/main.cpp
index de6032a..c3123e4 100644
--- a/main.cpp
+++ b/src/main.cpp
@@ -1,5 +1,5 @@
 #include <iostream>
-#include <include/stepper.h>
+#include <stepper.h>
 #include <boost/program_options.hpp>
 
 int main(int argc, char *argv[])