diff --git a/main.py b/main.py
index 5e4bcf2..0dc6584 100644
--- a/main.py
+++ b/main.py
@@ -3,13 +3,15 @@
 """
 
 import multiprocessing as mp
-import queue
 
 from worker import worker_controller
 from worker import queue_wrapper
 
 from modules import drone_odometry_local
+from modules import lidar_detection
+
 from modules.flight_interface import flight_interface_worker
+from modules.detection import detection_worker
 
 
 def main() -> int:
@@ -20,9 +22,18 @@ def main() -> int:
     # Local constants
     # pylint: disable=invalid-name
     QUEUE_MAX_SIZE = 10
+
     FLIGHT_INTERFACE_ADDRESS = "tcp:127.0.0.1:14550"
     FLIGHT_INTERFACE_TIMEOUT = 10.0
     FLIGHT_INTERFACE_WORKER_PERIOD = 0.1
+
+    SERIAL_PORT_NAME = "/dev/tty.usbmodem38S45_158681"
+    SERIAL_PORT_BAUDRATE = 921600
+    PORT_TIMEOUT = 0.1  # seconds
+    UPDATE_RATE = 5
+    HIGH_ANGLE = 170
+    LOW_ANGLE = -170
+    ROTATE_SPEED = 5
     # pylint: enable=invalid-name
 
     controller = worker_controller.WorkerController()
@@ -30,8 +41,10 @@ def main() -> int:
 
     flight_interface_to_main_queue = queue_wrapper.QueueWrapper(manager, QUEUE_MAX_SIZE)
 
-    worker = mp.Process(
-        target=flight_interface_worker,
+    detection_to_main_queue = queue_wrapper.QueueWrapper(manager, QUEUE_MAX_SIZE)
+
+    flight_interface_process = mp.Process(
+        target=flight_interface_worker.flight_interface_worker,
         args=(
             FLIGHT_INTERFACE_ADDRESS,
             FLIGHT_INTERFACE_TIMEOUT,
@@ -41,24 +54,49 @@ def main() -> int:
         ),
     )
 
-    worker.start()
+    detection_process = mp.Process(
+        target=detection_worker.detection_worker,
+        args=(
+            SERIAL_PORT_NAME,
+            SERIAL_PORT_BAUDRATE,
+            PORT_TIMEOUT,
+            UPDATE_RATE,
+            HIGH_ANGLE,
+            LOW_ANGLE,
+            ROTATE_SPEED,
+            detection_to_main_queue,
+            controller,
+        ),
+    )
+
+    flight_interface_process.start()
+    detection_process.start()
 
     while True:
         try:
-            input_data: drone_odometry_local.DroneOdometryLocal = (
+            flight_interface_data: drone_odometry_local.DroneOdometryLocal = (
                 flight_interface_to_main_queue.queue.get_nowait()
             )
-            assert (
-                str(type(input_data)) == "<class 'modules.drone_odometry_local.DroneOdometryLocal'>"
+
+            if flight_interface_data is not None:
+                print(flight_interface_data)
+
+            detection_data: lidar_detection.LidarDetection = (
+                detection_to_main_queue.queue.get_nowait()
             )
-            assert input_data.local_position is not None
-            assert input_data.drone_orientation is not None
-        except queue.Empty:
+
+            if detection_data is not None:
+                print(detection_data)
+
+        except KeyboardInterrupt:
+            controller.request_exit()
             break
 
-    controller.request_exit()
     flight_interface_to_main_queue.fill_and_drain_queue()
-    worker.join()
+    detection_to_main_queue.fill_and_drain_queue()
+
+    flight_interface_process.join()
+    detection_process.join()
 
     return 0