diff --git a/Sources/SwiftRPLidar/SwiftRPLidar.swift b/Sources/SwiftRPLidar/SwiftRPLidar.swift
index e95614d..0e8c5da 100644
--- a/Sources/SwiftRPLidar/SwiftRPLidar.swift
+++ b/Sources/SwiftRPLidar/SwiftRPLidar.swift
@@ -35,11 +35,23 @@ struct SwiftRPLidar {
     var text = "Hello, World!"
 }
 
-func processScan(raw: Data){
-    
+func processScan(raw: Data) throws -> LidarScan {
+    let newScan = raw[0] & 0b1
+    let inversedNewScan = (raw[0] >> 1) & 0b1
+    let quality = raw[0] >> 2
+    if (newScan == inversedNewScan){
+
+    }
+    if ((raw[1] & 0b1) != 1) {
+
+    }
+    let angle = (raw[1] >> 1) + (raw[2] << 7) / 64
+    let distance = raw[3] + (raw[4] << 8) / 4
+    return LidarScan(newScan: newScan, quality: quality, angle: angle, distance: distance)
 }
 
 struct LidarScan{
+    var newScan: Bool
     var quality: Float
     var angle: Float
     var distance: Float