diff --git a/examples/rpslam.py b/examples/rpslam.py
index e713d98..a984583 100755
--- a/examples/rpslam.py
+++ b/examples/rpslam.py
@@ -24,7 +24,7 @@ MAP_SIZE_METERS         = 10
 LIDAR_DEVICE            = '/dev/ttyUSB0'
 
 from breezyslam.algorithms import RMHC_SLAM
-#from breezyslam.sensors import XVLidar as LaserModel
+from breezyslam.sensors import RPLidarA1 as LaserModel
 
 from rplidar import RPLidar as Lidar
 
@@ -36,10 +36,10 @@ if __name__ == '__main__':
     lidar = Lidar(LIDAR_DEVICE)
 
     # Create an RMHC SLAM object with a laser model and optional robot model
-    #slam = RMHC_SLAM(LaserModel(), MAP_SIZE_PIXELS, MAP_SIZE_METERS)
+    slam = RMHC_SLAM(LaserModel(), MAP_SIZE_PIXELS, MAP_SIZE_METERS)
 
     # Set up a SLAM display
-    #display = SlamShow(MAP_SIZE_PIXELS, MAP_SIZE_METERS*1000/MAP_SIZE_PIXELS, 'SLAM')
+    display = SlamShow(MAP_SIZE_PIXELS, MAP_SIZE_METERS*1000/MAP_SIZE_PIXELS, 'SLAM')
 
     # Initialize an empty trajectory
     trajectory = []
diff --git a/python/breezyslam/sensors.py b/python/breezyslam/sensors.py
index 4d7038f..6caa509 100644
--- a/python/breezyslam/sensors.py
+++ b/python/breezyslam/sensors.py
@@ -58,4 +58,12 @@ class XVLidar(Laser):
         
         Laser.__init__(self, 360, 5.5, 360, 6000, detectionMargin, offsetMillimeters)
 
+class RPLidarA1(Laser):
+    '''
+    A class for the SLAMTEC RPLidar A1
+    '''
+    def __init__(self, detectionMargin = 0, offsetMillimeters = 0):
+        
+        Laser.__init__(self, 360, 5.5, 360, 12000, detectionMargin, offsetMillimeters)
+