diff --git a/LiDAR/LIDAR.cpp b/LiDAR/LIDAR.cpp
index c47888f5375752489d024bb8fcfaadd41c5632f6..000ddd5ab24540e8d9e3d4a1c7f72c695689b38d 100644
--- a/LiDAR/LIDAR.cpp
+++ b/LiDAR/LIDAR.cpp
@@ -35,10 +35,11 @@ int main(int argc, char const *argv[])
         fprintf(stderr, "Failed to connect to LIDAR %08x\r\n", res);
     }
 
-    lidar->setMotorSpeed(0);
+    std::vector<LidarScanMode> scanmodes;
+    lidar->getAllSupportedScanModes(scanmodes);
 
-    std::vector<LidarScanMode> scanmode;
-    lidar->getAllSupportedScanModes(scanmode);
+    LidarScanMode scanmode;
+    res = lidar->startScan(0,1,0,&scanmode);
 
     sl_lidar_response_measurement_node_hq_t nodes[8192];
     size_t nodeCount = sizeof(nodes)/sizeof(sl_lidar_response_measurement_node_hq_t);
diff --git a/LiDAR/LiDAR b/LiDAR/LiDAR
index 94c1f44bdd2665f780280a38f4ba175bea50983b..4dd62b00d42e9bdecc31d2ac6272e01806f14159 100755
Binary files a/LiDAR/LiDAR and b/LiDAR/LiDAR differ