From 6616af3fcd2c4e6d358e0d2096bdcc64f650243d Mon Sep 17 00:00:00 2001
From: simondlevy <simon.d.levy@gmail.com>
Date: Sat, 30 Jun 2018 22:53:23 -0400
Subject: [PATCH] RPLidar A1 example working

---
 README.md          | 10 +++++++++-
 examples/rpslam.py |  7 ++++---
 2 files changed, 13 insertions(+), 4 deletions(-)

diff --git a/README.md b/README.md
index 3453bf1..59d1689 100644
--- a/README.md
+++ b/README.md
@@ -114,12 +114,20 @@ try the  <b>urgslam.py</b> example in the examples folder.
 
 <p><h3>Testing with the GetSurreal XV Lidar</h3>
 
-BreezySLAM now includes Python support for the inexpensive 
+BreezySLAM includes Python support for the inexpensive 
 <a href="https://www.getsurreal.com/product/xv-lidar-sensor-mount-package">XV Lidar</a> from GetSurreal.
 To try it out, you'll also need the <a href="https://github.com/simondlevy/xvlidar">xvlidar</a> 
 Python package.  Once you've installed
 both packages, you can run the <b>xvslam.py</b> example in the <b>BreezySLAM/examples</b> folder.
 
+<p><h3>Testing with the SLAMTEC RPLidar A1</h3>
+
+BreezySLAM also includes Python support for the inexpensive 
+<a href="http://www.slamtec.com/en/lidar/a1">RPLidar A1</a> from SLAMTECH.
+To try it out, you'll also need the <a href="https://github.com/SkoltechRobotics/rplidar">rplidar</a> 
+Python package, as well as the popular <b>numpy</b> and <b>scipy</b> packages.  Once you've installed
+all packages, you can run the <b>rpslam.py</b> example in the <b>BreezySLAM/examples</b> folder.
+
 </p><h3>Installing for Matlab</h3>
 
 <p>
diff --git a/examples/rpslam.py b/examples/rpslam.py
index f1099ed..7524088 100755
--- a/examples/rpslam.py
+++ b/examples/rpslam.py
@@ -64,7 +64,7 @@ if __name__ == '__main__':
 
         # Interpolate to get 360 angles from 0 through 359, and corresponding distances
         f = interp1d(angles, distances, fill_value='extrapolate')
-        distances = list(f(np.arange(360)))
+        distances = list(f(np.arange(360))) # slam.update wants a list
 
         # Update SLAM with current Lidar scan, using third element of (quality, angle, distance) triples
         slam.update(distances)
@@ -79,9 +79,10 @@ if __name__ == '__main__':
 
         display.setPose(x, y, theta)
 
-        # Exit on window close
+        # Break on window close
         if not display.refresh():
-            exit(0)
+            break
 
+    # Shut down the lidar connection
     lidar.stop()
     lidar.disconnect()