 	}
 }
 //----------------------------------------------------------------------
-void parse_and_execute_LIDAR_commands(char* tmp_str, byte str_length, byte &i, char *tmp_serial_out)
+void parse_and_execute_LiDAR_commands(char* tmp_str, byte str_length, byte &i, char *tmp_serial_out)
 {
 	tmp_serial_out[0] = 0;
-	if (tmp_str[i + 1] == 'G' || tmp_str[i + 1] == 'g') {// lidar go
+	if (tmp_str[i + 1] == 'G' || tmp_str[i + 1] == 'g') {// LiDAR go
 		tera_ranger_one_lidar->start();
 		i += 3;
 	}
 	else
-		if (tmp_str[i + 1] == 'H' || tmp_str[i + 1] == 'h') {// lidar halt
+		if (tmp_str[i + 1] == 'H' || tmp_str[i + 1] == 'h') {// LiDAR halt
 			tera_ranger_one_lidar->stop();
+			sprintf(tmp_serial_out, "LH#");
 			i += 3;
 		}
 		else

					return;
				}

					tera_ranger_one_lidar->set_motor_speed_and_acceleration(motor_speed, motor_acceleration);
					i += 2 + num_consumed;
			}
			else// unknown command
				i += 2;

	- Moves servo motor x to home position.  
	- Outputs VHx#.

	// READ SENSORS COMMANDS

	RUx# 
	- Read the distance as measured by the ultrasonic sensor x. 
	- Outputs RUx d# when the reading has been completed. 
