diff --git a/Sources/SwiftRPLidar/SwiftRPLidar.swift b/Sources/SwiftRPLidar/SwiftRPLidar.swift
index 3141a1b..1686f6d 100644
--- a/Sources/SwiftRPLidar/SwiftRPLidar.swift
+++ b/Sources/SwiftRPLidar/SwiftRPLidar.swift
@@ -27,8 +27,8 @@ struct Constants{
     static let DEFAULT_MOTOR_PWM = 660
 }
 
-enum HEALTH_STATUSES {
-    case GOOD, WARNING, ERROR
+enum HEALTH_STATUSES: UInt8 {
+    case GOOD = 0, WARNING, ERROR
 }
 
 struct SwiftRPLidar {
@@ -127,24 +127,62 @@ class RPLidar{
         return (raw[0], raw[2], raw[3], serialNumber)
     }
     
-    public func getHealth(){
-        
+    public func getHealth() throws -> (HEALTH_STATUSES, UInt8){
+        try sendCommand(Constants.GET_HEALTH.asData())
+        let (dataSize, isSingle, dataType) = try readDescriptor()!
+        if (dataSize != Constants.HEALTH_LEN){
+            
+        }
+        if (!isSingle){
+            
+        }
+        if(dataType != Constants.HEALTH_TYPE){
+            
+        }
+        let raw = try readResponse(dataSize)
+        let status = HEALTH_STATUSES(rawValue: raw[0])!
+        let errorCode = raw[1] << 8 + raw[2]
+        return (status, errorCode)
     }
     
     public func clearInput(){
         
     }
     
-    public func stop(){
-        
+    public func stop() throws{
+        try sendCommand(Constants.STOP.asData())
     }
     
-    public func reset(){
-        
+    public func reset() throws{
+        try sendCommand(Constants.RESET.asData())
     }
     
-    public func iterMeasurements(maxBufferMeasurements: Int = 500, _ onMeasure: MeasurementHandler) {
+    public func iterMeasurements(maxBufferMeasurements: Int = 500, _ onMeasure: MeasurementHandler) throws {
+        try startMotor()
+        let (status, errorCode) = try getHealth()
+        if status == .ERROR{
+            // Throw Exception
+        }
         
+        else if status == .WARNING {
+            
+        }
+        
+        try sendCommand(Constants.SCAN.asData())
+        let (dataSize, isSingle, dataType) = try readDescriptor()!
+        if (dataSize != 5){
+            
+        }
+        if isSingle{
+            
+        }
+        if dataType != Constants.SCAN_TYPE{
+            
+        }
+        for _ in 0..<500{
+            let raw = try readResponse(Int(dataSize))
+            
+        }
     }
     
     public func iterScans(maxBufferMeasurements: Int = 500, minLength: Int = 5, _ onScan: ScanHandler){