diff --git a/NetworkPerception.cpp b/NetworkPerception.cpp
index 0ead299..3fbf571 100644
--- a/NetworkPerception.cpp
+++ b/NetworkPerception.cpp
@@ -105,8 +105,8 @@ void NetworkPerception::ReceivePlane(unsigned char* data, Roboid* roboid) {
   //        worldPosition.y, worldPosition.z, roboidPosition.x,
   //        roboidPosition.y, roboidPosition.z, position.distance,
   //        (float)position.horizontalAngle, (float)position.verticalAngle);
-  printf("Received plane %f (%f %f)\n", position.distance,
-         position.horizontal.ToFloat(), position.vertical.ToFloat());
+  // printf("Received plane %f (%f %f)\n", position.distance,
+  //        (float)position.horizontalAngle, (float)position.verticalAngle);
   roboid->perception->AddTrackedObject(this, position, Quaternion::identity,
                                        0x80, 0x80, networkId);
 }
diff --git a/Perception.cpp b/Perception.cpp
index 461de59..fb3da07 100644
--- a/Perception.cpp
+++ b/Perception.cpp
@@ -196,12 +196,13 @@ bool Perception::ObjectNearby(float direction, float range) {
 
 // #include <WifiSync.h>
 // This function is deprecated
+/*
 void Perception::AddTrackedObject(Sensor* sensor,
-                                  Polar position,
+                                  Spherical16 position,
                                   unsigned char thingType,
                                   unsigned char networkId) {
-  Spherical16 sPos =
-      Spherical16(position.distance, Angle16(position.angle.ToFloat()), 0);
+  // Spherical16 sPos =
+  //     Spherical16(position.distance, Angle16(position.angle.ToFloat()), 0);
   Quaternion orientation = Quaternion::identity;
   AddTrackedObject(sensor, sPos, orientation, 0x00, thingType, networkId);
   /*
@@ -277,15 +278,15 @@ void Perception::AddTrackedObject(Sensor* sensor,
       // No available slot, delete trackedobject
       delete obj;
     }
+    }
   */
-}
 
 InterestingThing* Perception::AddTrackedObject(Sensor* sensor,
                                                Spherical16 position,
                                                Quaternion orientation,
                                                unsigned char thingType,
                                                unsigned char thingId,
-                                               unsigned networkId) {
+                                               unsigned char networkId) {
   InterestingThing* thing = new InterestingThing(sensor, position, orientation);
   if (thingId != 0x00)
     thing->id = thingId;
diff --git a/Perception.h b/Perception.h
index 9aa7ba6..a46144b 100644
--- a/Perception.h
+++ b/Perception.h
@@ -89,17 +89,17 @@ class Perception {
   /// @param sensor The sensor which has detected the object
   /// @param position The position of the sensor in polar coordinates local to
   /// the roboid
-  void AddTrackedObject(Sensor* sensor,
-                        Polar position,
-                        unsigned char objectType = 0xFF,
-                        unsigned char networkId = 0x00);
+  //   void AddTrackedObject(Sensor* sensor,
+  //                         Spherical16 position,
+  //                         unsigned char objectType = 0x00,
+  //                         unsigned char networkId = 0x00);
   InterestingThing* AddTrackedObject(
       Sensor* sensor,
       Spherical16 position,
       Quaternion orientation = Quaternion::identity,
       unsigned char objectType = 0xFF,
       unsigned char objectId = 0x00,
-      unsigned networkId = 0x00);
+      unsigned char networkId = 0x00);
 
   InterestingThing* AddTrackedObject(
       Sensor* sensor,