diff --git a/Makefile b/Makefile
index 03acfec959fc69b72f0d2bcbd6385f1980b7cd59..61a03733b38f8f2a138d2245ef6fc97df5ce37de 100755
--- a/Makefile
+++ b/Makefile
@@ -1,20 +1,22 @@
 # setup
 # modified by zerom for WinARM 8/2010
+STM32_HAL_PATH=/home/shernand/humanoids/stm32_hal
+STM32_LIBRARIES_PATH=/home/shernand/humanoids/stm32_libraries
 
 PROJECT_NAME=bioloid_firmware
 TARGET_FILES=$(wildcard src/*.c)
 TARGET_PROCESSOR=STM32F407VG
 
-HAL_PATH=../../STM32_processor/hal/f4
+HAL_PATH=$(STM32_HAL_PATH)/f4
 
 include $(HAL_PATH)/select_processor.mk
 
 STM32_STARTUP_FILES_PATH = $(HAL_PATH)/startup_code/
 STM32_LINKER_SCRIPTS_PATH = ./linker_script
-UTILS_PATH=../../STM32_processor/libraries/utils
-COMM_PATH=../../STM32_processor/libraries/comm
-USART_PATH=../../STM32_processor/libraries/f4/usart
-DYNAMIXEL_PATH=../../STM32_processor/libraries/dynamixel_base
+UTILS_PATH=$(STM32_LIBRARIES_PATH)/utils
+COMM_PATH=$(STM32_LIBRARIES_PATH)/comm
+USART_PATH=$(STM32_LIBRARIES_PATH)/f4/usart
+DYNAMIXEL_PATH=$(STM32_LIBRARIES_PATH)/dynamixel_base
 BUILD_PATH=build
 
 COMPILE_OPTS = -mlittle-endian -mcpu=cortex-m4 -mthumb -mthumb-interwork 
diff --git a/src/bioloid_dyn_master_servos.c b/src/bioloid_dyn_master_servos.c
index 244a69fb8387a422a29cbdf4a4535f64860ccd73..d2ccb344f8ec3704b77fdd122ebbf6a9fded5b0d 100755
--- a/src/bioloid_dyn_master_servos.c
+++ b/src/bioloid_dyn_master_servos.c
@@ -1,6 +1,8 @@
 #include "bioloid_dyn_master_servos.h"
 #include "bioloid_time.h"
 #include "usart1.h"
+#include "ram.h"
+#include "bioloid_registers.h"
 
 #define ENABLE_RX_EN_GPIO_CLK      __GPIOA_CLK_ENABLE()
 #define RX_EN_PIN                  GPIO_PIN_8
@@ -94,12 +96,12 @@ void bioloid_dyn_master_servos_init(void)
 inline void bioloid_dyn_master_servos_enable_power(void)
 {
   HAL_GPIO_WritePin(POWER_GPIO_PORT,POWER_PIN,GPIO_PIN_SET);
-  ram_data[DARWIN_MM_CNTRL]|=MANAGER_EN_PWR;
+  ram_data[BIOLOID_MM_CNTRL]|=MANAGER_EN_PWR;
 }
 
 inline void bioloid_dyn_master_servos_disable_power(void)
 {
   HAL_GPIO_WritePin(POWER_GPIO_PORT,POWER_PIN,GPIO_PIN_RESET);
-  ram_data[DARWIN_MM_CNTRL]&=(~MANAGER_EN_PWR);
+  ram_data[BIOLOID_MM_CNTRL]&=(~MANAGER_EN_PWR);
 }