build.xml

<!-- bluetoothTest ANT build system -->

<project name="MadgwickAHRS" default="jar" basedir=".">
	<description>
		Ant build system for MadgwickAHRS
	</description>

	<!-- set global properties for this build -->
	<property environment="env"/>
	<property name="JAVA_HOME" location="${env.JAVA_HOME}" />
	<property name="javasrc" location="src/" />
	<property name="lib" location="lib" />
	<property name="jarLib" location="jarLib" />
	<property name="build" location="build" />
	<property name="classes" location="build/java" />

	<!-- Java compile -->
	<target name="javacompile" description="Compile Java source" >
		<mkdir dir="${classes}"/>
		<javac source="1.5" srcdir="${javasrc}" destdir="${classes}" nowarn="on">
		<!--Include external libs here-->
		<classpath>
			<fileset dir="${jarLib}">  
				<include name="**/*.jar" />  
			</fileset> 
		</classpath>
		</javac>
	</target>
  
	<!-- Create Jar -->
	<target name="jar" depends="javacompile" description="Create Jar file" >
		<copy todir="${build}/lib">
			<fileset dir="${lib}"/>
		</copy>
			<copy todir="${build}/jarLib">
			<fileset dir="${jarLib}"/>
		</copy>
		<jar jarfile="${build}/MadgwickAHRS.jar" basedir="${classes}" manifest="manifest/manifest.mf"/>
	</target>
  </project>