Get lidar to a working state, add errors, example.

README.md

@@ -1,3 +1,11 @@
 # SwiftRPLidar
 
-A description of this package.
+This library interacts with the RPLidar A1 using pure swift. It is designed to closely replicate the python rplidar library by Skoltech: https://github.com/SkoltechRobotics/rplidar/
+There may be support for RPLidar A2, however it is not available for testing at this time.
+
+Documentation is coming soon.
+
+For a runnable example, see the Examples product.
+
+``` swift run --product Examples ```
+