diff --git a/Source/BSP/Src/lidar.c b/Source/BSP/Src/lidar.c
index b7c9eea..6dd5023 100644
--- a/Source/BSP/Src/lidar.c
+++ b/Source/BSP/Src/lidar.c
@@ -59,10 +59,8 @@ void lidar_init()
 	NVIC_EnableIRQ(USART3_IRQn);
 }
 
-uint32_t test;
 void USART3_IRQHandler()
 {
-	++test;
 	if (USART3->ISR & USART_ISR_RXNE)
 	{
 		uint8_t b = USART3->RDR;
diff --git a/Source/main.c b/Source/main.c
index b2b9412..042bea3 100644
--- a/Source/main.c
+++ b/Source/main.c
@@ -38,10 +38,12 @@ int main(void)
 	
 	motors_init();*/
 	
-	//lidar_init();
+	lidar_init();
 	
-	lidar_i2c2_init();
-	tf02_force_uart();
+	while (1)
+	{
+		lidar_update(&lidar);
+	}
 	
 	/*while (1)
 	{