diff --git a/Perception.cpp b/Perception.cpp
index be44a3b..461de59 100644
--- a/Perception.cpp
+++ b/Perception.cpp
@@ -479,9 +479,12 @@ void Perception::Update(unsigned long currentTimeMs) {
 
       float distance = distanceSensor->GetDistance();
       if (distance >= 0) {
-        Angle16 angle = sensor->position.horizontal;
-        // Polar position = Polar(angle, distance);
-        Polar position = Polar(distance, angle.ToFloat());
+        // Angle16 angle = sensor->position.horizontal;
+        //  Polar position = Polar(angle, distance);
+        //  Polar position = Polar(distance, angle.ToFloat());
+        //  AddTrackedObject(distanceSensor, position);
+        Spherical16 position = Spherical16(
+            distance, sensor->position.horizontal, sensor->position.vertical);
         AddTrackedObject(distanceSensor, position);
       }