       break;
     case 17: //data 3:1
       ranges[(Data_4deg_index << 2) + 3] = ((inByte & 0x3F) << 8) + ranges[(Data_4deg_index << 2) + 3];
+	if (Data_4deg_index == 89)
+		lidar_complete = true;
       break;
     case 18: //data 3:2 signal strength
     case 19: //data 3:3 signal strength

	//include correction <0 - ow; MOTOR_MAX + ow> where ow is an overflow
	int corrected_motor_left  = motor_vel_to_pwm(abs(req_motor_left))  + constrain(correction_motor_left  * 5, -MOTOR_MAX/5, MOTOR_MAX/5);
	int corrected_motor_right = motor_vel_to_pwm(abs(req_motor_right)) + constrain(correction_motor_right * 5, -MOTOR_MAX/5, MOTOR_MAX/5);
	add_status_code(corrected_motor_left);
	add_status_code(corrected_motor_right);

	//remap if speed of any wheel overflows 0 or MOTOR_MAX
	if (corrected_motor_left < MOTOR_MIN)

	}

	String cmd = String(arm_clamp + arm_roll + arm_elbow + arm_shoulder + arm_yaw + "T" + time_to_complete_str + "\r\n");
	//log_string(cmd);
	Serial3.print(cmd);

}
