diff --git a/bioloid_controller_cm510/CMakeLists.txt b/bioloid_controller_cm510/CMakeLists.txt
index fa6bf39ba2615ecf2daa71232e4856d423cc570e..6329797ed5f8e26c9f22ef63d4ff46dbbebfcee6 100644
--- a/bioloid_controller_cm510/CMakeLists.txt
+++ b/bioloid_controller_cm510/CMakeLists.txt
@@ -1,3 +1,4 @@
+
 cmake_minimum_required(VERSION 2.8.3)
 project(bioloid_controller_cm510)
 
@@ -90,6 +91,7 @@ catkin_package(
 ###########
 
 SET(BIOLOID_FW_PATH ~/humanoids/cm510_controller_fw)
+SET (ProjectPath ~/Desktop/Laia/new_fw)
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
@@ -124,7 +126,7 @@ add_library(${PROJECT_NAME} src/bioloid_controller_cm510.cpp
                             ${BIOLOID_FW_PATH}/communications/src/dynamixel.c
                             ${BIOLOID_FW_PATH}/communications/src/serial_console.c
                             # main application module
-                            ${BIOLOID_FW_PATH}/motion/src/examples/walk_straight.c
+                            ${ProjectPath}/Compass/main.c
                             # AVR simulation modules
                             src/sim/avr_delay.c
                             src/sim/avr_registers.c