diff --git a/Source/main.c b/Source/main.c
index e2637f6..d353e0f 100644
--- a/Source/main.c
+++ b/Source/main.c
@@ -19,7 +19,7 @@ void delay_ms(uint32_t ms);
 
 int main(void)
 {
-	/*__enable_irq();
+	__enable_irq();
 	
 	NVIC_SetPriority(TIM6_DAC_IRQn, 2);
 	NVIC_SetPriority(USART3_IRQn, 1);
@@ -36,17 +36,9 @@ int main(void)
 	
 	receiver_init();
 	
-	motors_init();*/
-	
-	lidar_init();
-	// lidar_tim7_init();
+	motors_init();
 	
 	while (1)
-	{
-		lidar_update(&lidar);
-	}
-	
-	/*while (1)
 	{
 		attitude_update(&attitude, &imu);
 		
@@ -65,7 +57,7 @@ int main(void)
 		{
 			motors_turn_off();
 		}
-	}*/
+	}
 }
 
 void delay_ms(uint32_t ms)