diff --git a/build.sh b/build.sh
new file mode 100755
index 0000000..f5a5c31
--- /dev/null
+++ b/build.sh
@@ -0,0 +1,9 @@
+#!/bin/sh
+
+halcompile --userspace collisionavoid.comp
+mv collisionavoid.c build/
+
+gcc -Os -g -I. -I/usr/realtime-4.14.174-rtai-amd64/include -I. -I/usr/realtime-4.14.174-rtai-amd64/include -D_FORTIFY_SOURCE=0 \
+	    -mhard-float -DRTAI=3 -fno-fast-math -mieee-fp -fno-unsafe-math-optimizations -DRTAPI -std=c99 -D_GNU_SOURCE -Drealtime \
+	    -D_FORTIFY_SOURCE=0 -D__MODULE__ -I/usr/include/linuxcnc -Wframe-larger-than=2560 -URTAPI -U__MODULE__ -DULAPI -Os \
+	     -o build/collisionavoid build/collisionavoid.c -Wl,-rpath,/lib -L/lib -llinuxcnchal
diff --git a/build/collisionavoid b/build/collisionavoid
deleted file mode 100755
index 3976fa5..0000000
Binary files a/build/collisionavoid and /dev/null differ
diff --git a/build/collisionavoid.c b/build/collisionavoid.c
deleted file mode 100644
index f1e0f8e..0000000
--- a/build/collisionavoid.c
+++ /dev/null
@@ -1,153 +0,0 @@
-/* Autogenerated by /usr/bin/halcompile on Wed Nov 27 15:02:36 2024 -- do not edit */
-#include "rtapi.h"
-#ifdef RTAPI
-#include "rtapi_app.h"
-#endif
-#include "rtapi_string.h"
-#include "rtapi_errno.h"
-#include "hal.h"
-#include "rtapi_math64.h"
-
-static int comp_id;
-
-#ifdef MODULE_INFO
-MODULE_INFO(linuxcnc, "component:collisionavoid:Avoid Collisions");
-MODULE_INFO(linuxcnc, "pin:xaxis:float:0:in::None:None");
-MODULE_INFO(linuxcnc, "pin:yaxis:float:0:in::None:None");
-MODULE_INFO(linuxcnc, "pin:zaxis:float:0:in::None:None");
-MODULE_INFO(linuxcnc, "pin:chuck:bit:0:in::None:None");
-MODULE_INFO(linuxcnc, "pin:table:bit:0:in::None:None");
-MODULE_INFO(linuxcnc, "pin:stop:bit:0:out::None:None");
-MODULE_INFO(linuxcnc, "license:GPL");
-MODULE_LICENSE("GPL");
-#endif // MODULE_INFO
-
-
-struct __comp_state {
-    struct __comp_state *_next;
-    hal_float_t *xaxis;
-    hal_float_t *yaxis;
-    hal_float_t *zaxis;
-    hal_bit_t *chuck;
-    hal_bit_t *table;
-    hal_bit_t *stop;
-};
-#include <stdlib.h>
-struct __comp_state *__comp_first_inst=0, *__comp_last_inst=0;
-
-static int __comp_get_data_size(void);
-#undef TRUE
-#define TRUE (1)
-#undef FALSE
-#define FALSE (0)
-#undef true
-#define true (1)
-#undef false
-#define false (0)
-
-static int export(char *prefix, long extra_arg) {
-    int r = 0;
-    int sz = sizeof(struct __comp_state) + __comp_get_data_size();
-    struct __comp_state *inst = hal_malloc(sz);
-    memset(inst, 0, sz);
-    r = hal_pin_float_newf(HAL_IN, &(inst->xaxis), comp_id,
-        "%s.xaxis", prefix);
-    if(r != 0) return r;
-    r = hal_pin_float_newf(HAL_IN, &(inst->yaxis), comp_id,
-        "%s.yaxis", prefix);
-    if(r != 0) return r;
-    r = hal_pin_float_newf(HAL_IN, &(inst->zaxis), comp_id,
-        "%s.zaxis", prefix);
-    if(r != 0) return r;
-    r = hal_pin_bit_newf(HAL_IN, &(inst->chuck), comp_id,
-        "%s.chuck", prefix);
-    if(r != 0) return r;
-    r = hal_pin_bit_newf(HAL_IN, &(inst->table), comp_id,
-        "%s.table", prefix);
-    if(r != 0) return r;
-    r = hal_pin_bit_newf(HAL_OUT, &(inst->stop), comp_id,
-        "%s.stop", prefix);
-    if(r != 0) return r;
-    if(__comp_last_inst) __comp_last_inst->_next = inst;
-    __comp_last_inst = inst;
-    if(!__comp_first_inst) __comp_first_inst = inst;
-    return 0;
-}
-int rtapi_app_main(void) {
-    int r = 0;
-    comp_id = hal_init("collisionavoid");
-    if(comp_id < 0) return comp_id;
-    r = export("collisionavoid", 0);
-    if(r) {
-        hal_exit(comp_id);
-    } else {
-        hal_ready(comp_id);
-    }
-    return r;
-}
-
-void rtapi_app_exit(void) {
-    hal_exit(comp_id);
-}
-static void user_mainloop(void);
-int argc=0; char **argv=0;
-int main(int argc_, char **argv_) {
-    argc = argc_; argv = argv_;
-
-    if(rtapi_app_main() < 0) return 1;
-    user_mainloop();
-    rtapi_app_exit();
-    return 0;
-}
-
-#undef FUNCTION
-#define FUNCTION(name) static void name(struct __comp_state *__comp_inst, long period)
-#undef EXTRA_SETUP
-#define EXTRA_SETUP() static int extra_setup(struct __comp_state *__comp_inst, char *prefix, long extra_arg)
-#undef EXTRA_CLEANUP
-#define EXTRA_CLEANUP() static void extra_cleanup(void)
-#undef fperiod
-#define fperiod (period * 1e-9)
-#undef xaxis
-#define xaxis (0+*__comp_inst->xaxis)
-#undef yaxis
-#define yaxis (0+*__comp_inst->yaxis)
-#undef zaxis
-#define zaxis (0+*__comp_inst->zaxis)
-#undef chuck
-#define chuck (0+*__comp_inst->chuck)
-#undef table
-#define table (0+*__comp_inst->table)
-#undef stop
-#define stop (*__comp_inst->stop)
-#undef FOR_ALL_INSTS
-#define __comp_inst __comp_first_inst
-#define FOR_ALL_INSTS()
-
-
-#line 19 "collisionavoid.comp"
-
-#include <stdio.h>    /* Standard input/output definitions */
-
-
-void user_mainloop(void)
-{
-           FOR_ALL_INSTS()  //needed for resaons
-            { 
-                while(1)
-                {
-                        usleep(500);
-                             if(chuck == 1 && xaxis > 107 && yaxis < 32 && zaxis < -25  ) stop = 1;
-                        else if(table == 1 && xaxis > 107 && yaxis < 32 && zaxis < -25  ) stop = 1;
-                        else stop = 0;
-                        
-                }
-            }
-    exit(0);
-}
-
-
-
-
-
-static int __comp_get_data_size(void) { return 0; }