diff --git a/makefile b/makefile
new file mode 100644
index 0000000..b07ee85
--- /dev/null
+++ b/makefile
@@ -0,0 +1,14 @@
+BINARY_NAME=motorsim
+SRC_PATH=./src
+
+all: generate-protos build
+
+build:
+	go build -o ${BINARY_NAME} ${SRC_PATH}/main.go
+ 
+generate-protos:
+	protoc --go_out=. --go_opt=paths=source_relative --go-grpc_out=. --go-grpc_opt=paths=source_relative ${SRC_PATH}/motorsim.proto
+
+clean:
+	go clean
+	rm ${BINARY_NAME} ./src/*.pb.go
\ No newline at end of file
diff --git a/src/motorsim.proto b/src/motorsim.proto
new file mode 100644
index 0000000..a985720
--- /dev/null
+++ b/src/motorsim.proto
@@ -0,0 +1,32 @@
+syntax = "proto3";
+
+import "google/protobuf/empty.proto";
+
+option go_package = ".;motorprotos";
+
+package motorprotos;
+
+// Server converting target angles to velocity profile for mo
+service MotorsController {
+    rpc SetJoints(Angles) returns (Angles) {}
+    rpc GetJoints(google.protobuf.Empty) returns (Angles) {}
+}
+// Server converting target angles to velocity profile for mo
+//service Motor {
+//    rpc SetVolicty(Velocity) returns (google.protobuf.Empty) {}
+//    rpc ReceiveDataStream(google.protobuf.Empty) returns (stream
+//}
+
+message Angles {
+    repeated double angles = 1;
+}
+
+message Velocity {
+    double velocity = 1;
+}
+
+message MotorData {
+    double angle = 1;
+    double velocity = 2;
+    string error = 3; // Will be filled if motor encounter an error
+}
\ No newline at end of file