diff --git a/DistanceSensor.cpp b/DistanceSensor.cpp
index 5502abe..676a709 100644
--- a/DistanceSensor.cpp
+++ b/DistanceSensor.cpp
@@ -1,16 +1,12 @@
 #include "DistanceSensor.h"
 
-DistanceSensor::DistanceSensor() {
-  this->type = Thing::DistanceSensorType;
-}
+DistanceSensor::DistanceSensor() { this->type = Thing::DistanceSensorType; }
 
 DistanceSensor::DistanceSensor(float triggerDistance) {
   this->triggerDistance = triggerDistance;
 }
 
-float DistanceSensor::GetDistance() {
-  return distance;
-};
+float DistanceSensor::GetDistance() { return distance; };
 
 bool DistanceSensor::ObjectNearby() {
   bool isOn = GetDistance() <= triggerDistance;
diff --git a/Perception.cpp b/Perception.cpp
index 008f219..9a33ad2 100644
--- a/Perception.cpp
+++ b/Perception.cpp
@@ -84,25 +84,25 @@ bool Perception::ObjectNearby(float direction, float range) {
   if (range < 0)
     range = -range;
 
-  for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
-    Placement placement = sensorPlacements[sensorIx];
-    if (placement.horizontalDirection > direction - range &&
-        placement.horizontalDirection < direction + range) {
-      Thing *thing = placement.thing;
-      if (thing == nullptr)
-        continue;
+  // for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
+  //   Placement placement = sensorPlacements[sensorIx];
+  //   if (placement.horizontalDirection > direction - range &&
+  //       placement.horizontalDirection < direction + range) {
+  //     Thing *thing = placement.thing;
+  //     if (thing == nullptr)
+  //       continue;
 
-      if (thing->type == Thing::DistanceSensorType) {
-        DistanceSensor *distanceSensor = (DistanceSensor *)thing;
-        if (distanceSensor != nullptr && distanceSensor->ObjectNearby())
-          return true;
-      } else if (thing->type == Thing::SwitchType) {
-        Switch *switchSensor = (Switch *)thing;
-        if (switchSensor != nullptr && switchSensor->IsOn())
-          return true;
-      }
-    }
-  }
+  //     if (thing->type == Thing::DistanceSensorType) {
+  //       DistanceSensor *distanceSensor = (DistanceSensor *)thing;
+  //       if (distanceSensor != nullptr && distanceSensor->ObjectNearby())
+  //         return true;
+  //     } else if (thing->type == Thing::SwitchType) {
+  //       Switch *switchSensor = (Switch *)thing;
+  //       if (switchSensor != nullptr && switchSensor->IsOn())
+  //         return true;
+  //     }
+  //   }
+  // }
 
   for (unsigned char objIx = 0; objIx < maxObjectCount; objIx++) {
     PerceivedObject *obj = perceivedObjects[objIx];
@@ -243,6 +243,32 @@ void Perception::Update(float currentTimeMs) {
 
   lastUpdateTimeMs = currentTimeMs;
 
+  // Update sensing
+  for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
+    Placement thingPlacement = sensorPlacements[sensorIx];
+    Thing *thing = thingPlacement.thing;
+    if (thing == nullptr)
+      continue;
+
+    if (thing->type == Thing::DistanceSensorType) {
+      DistanceSensor *distanceSensor = (DistanceSensor *)thing;
+      printf("S%d: %d %f\n", sensorIx, (int)distanceSensor,
+             distanceSensor->GetDistance());
+      if (distanceSensor != nullptr && distanceSensor->ObjectNearby()) {
+        Polar position = Polar(thingPlacement.horizontalDirection,
+                               distanceSensor->GetDistance());
+        AddPerceivedObject(position);
+      }
+    } else if (thing->type == Thing::SwitchType) {
+      Switch *switchSensor = (Switch *)thing;
+      if (switchSensor != nullptr && switchSensor->IsOn()) {
+        Polar position =
+            Polar(thingPlacement.horizontalDirection, nearbyDistance);
+        AddPerceivedObject(position);
+      }
+    }
+  }
+
   for (unsigned char objIx = 0; objIx < maxObjectCount; objIx++) {
     PerceivedObject *obj = perceivedObjects[objIx];
     if (obj == nullptr)