diff --git a/SlamController/slam_streamer.py b/SlamController/slam_streamer.py
index 0e9d539..b444d3a 100644
--- a/SlamController/slam_streamer.py
+++ b/SlamController/slam_streamer.py
@@ -31,29 +31,39 @@ class SlamStreamer:
         to calling this method, and changing those values after
         calling this method will have no effect.
         '''
-
+        self.can_scan = True
         print('Starting to stream')
         self._socket = self._start_socket(
             self._create_socket(self._zmq_context), self._port)
 
-        print('Started and bound zmq socket.')
+        print('Started and bound zmq socket.'
 
         # Adapted from BreezySLAM rpslam example.
         # Connect to Lidar unit
         lidar = Lidar(self._lidar_connection)
 
+        print('Initialised lidar')
+
         # Create an RMHC SLAM object with a laser model and optional robot model
         slam = RMHC_SLAM(LaserModel(), self._map_pixels, self._map_meters)
 
+        print('initialised slam')
+
         # Initialize empty map
         mapbytes = bytearray(self.map_pixels * self.map_pixels)
+        
+        print('Initialised byte []')
 
         # Create an iterator to collect scan data from the RPLidar
         iterator = lidar.iter_scans()
 
+        print('Scanning')
+
         # First scan is crap, so ignore it
         next(iterator)
 
+        print('Going to next scan')
+
         while self.can_scan:
             # Extract (quality, angle, distance) triples from current scan
             items = [item for item in next(iterator)]