How to properly create symbolic link?

Question

scenario :

1. I'm in a place that is not in PATH
2. I have a file name dofoo that is executable
3. I want to create symbolic link in /usr/bin that points to dofoo in current directory

quite hard to get the basics. I can do with

$ cd /usr/bin
$ sudo ln -s /previous/path/dofoo
$ cd /previous/path

but I'd like to be this done with single command. here's what I have tried(assuming I'm in /previous/path):

$ sudo ln -s dofoo /usr/bin/dofoo
$ /usr/bin/dofoo
bash: /usr/bin/dofoo: Too many levels of symbolic links

Answer 1

The command should look like

sudo ln -s $PWD/dofoo /usr/bin

This will produce the expected result. The manpage is a bit unclear about TARGET (at least to me).