diff --git a/Input/input.h b/Input/input.h
index c0211c9..888ba60 100644
--- a/Input/input.h
+++ b/Input/input.h
@@ -16,6 +16,4 @@ public:
     ~Input();
     Mat readFile(String filePath);
     Mat readWebcam();
-};
-
-
+};
\ No newline at end of file
diff --git a/autonomous_mode_main.cpp b/autonomous_mode_main.cpp
index 92a29b2..5760d0e 100644
--- a/autonomous_mode_main.cpp
+++ b/autonomous_mode_main.cpp
@@ -1,9 +1,11 @@
 #include "lfr.h"
-
+ 
 int main(void)
 {
-    //Mat image1 = input.readFile("C:\\Line-Following-Robot\\Test_data\\*.jpeg");
-
     LFR lfr;
+    //todo: Future will block leaving the scope of startLoop(). You will have to think of a way to break the loop properly.
     lfr.startLoop();
+    std::cout<<"AutonomousMode: Loop started\n";
+    lfr.endLoop();
+    std::cout<<"AutonomousMode: Loop ended\n";
 }
\ No newline at end of file
diff --git a/lfr.cpp b/lfr.cpp
index 655ef0b..05ca96a 100644
--- a/lfr.cpp
+++ b/lfr.cpp
@@ -8,12 +8,14 @@ LFR::LFR() : iAmLooping(false), input(), processing(), controlModule(), interpre
 
 LFR::~LFR()
 {
-
+    if(iAmLooping)
+    {
+        this->endLoop();
+    }
 }
 
 void LFR::loop()
 {
-    //Give it 10 loops while async processing is not supported. 
     //while(iAmLooping)
     for(int i = 0; i < 3; i++)
     {
@@ -22,15 +24,18 @@ void LFR::loop()
         imshow("Display window", image);
         waitKey(0);
     }
-    iAmLooping = false;
 }
 
-void LFR::startLoop()
+std::future<void> LFR::startLoop()
 {
-    this->loop();
+    iAmLooping = true;
+    std::cout<<"Loop start\n";
+    return std::async(&LFR::loop, this);
 }
 
 void LFR::endLoop()
 {
-    std::cout<<"The loop has been started. You may not dare to tell it to stop.";
+    iAmLooping = false;
+    std::cout<<"loop ende\n";
+    return;
 }
\ No newline at end of file
diff --git a/lfr.h b/lfr.h
index 69483fa..0471bd1 100644
--- a/lfr.h
+++ b/lfr.h
@@ -5,6 +5,7 @@
 #include <control_module.h>
 #include <interpreter.h>
 #include <intersection_handler.h>
+#include <future>
 
 using namespace cv;
 
@@ -15,7 +16,7 @@ class LFR
     ControlModule controlModule;
     Interpreter interpreter;
     IntersectionHandler intersectionHandler;
-    bool iAmLooping;
+    volatile bool iAmLooping;
     void loop();
 
 public:
@@ -23,7 +24,7 @@ public:
     LFR();
     ~LFR();
 
-    void startLoop();
+    std::future<void> startLoop();
     void endLoop();