Python3 driver and real-time scan viewer

README.md

@@ -217,4 +217,58 @@ Contact Slamtec
 
 If you have any extra questions, please feel free to contact us at our support email:
 
-    support AT slamtec DOT com
+    support AT slamtec DOT com
+
+
+# Python3 Driver and Viewer
+
+RPLidar Viewer Instructions:
+
+    Mouse: 
+        Left Click and Hold - moves (translates) the scan data on the screen
+        Right Click and Hold -  rotates the scan data on the screen (display purposes only, i.e., recorded scan data is unaffected)
+        Mouse Wheel - forward to zoom in, backwards to zoom out
+        Double Left Click - re-center the scan data
+        Double Right Click - re-orientate (rotate) the scan data
+        Double Middle Click - reset the zoom level
+
+    Keyboard:
+        r key    - toogles the faint ray traces on/off within the viewer
+        [/{ key - increases point size
+        ]/} key - decreases point size
+        =/+ key - zooms in
+        -/_ key - zooms out
+        Up/Down/Left/Right keys - moves the scan data in the respective direction
+        ,/< key    - rotates the scan data counter-clockwise
+        ./> key - rotates the scan data clockwise
+        c key    - re-center the scan data
+        o key    - re-orientate (rotate) the scan data
+        z key    - reset the zoom level
+        i key    - re-center and re-orientate and reset the zoom (initializes the default viewer settings)
+        Esc key    - Ends the scanning session and closes the viewer
+
+RPLidar Class Object
+
+    Properties of Interest:
+        COM (pyserial) object - set baud rate, timeout, etc.
+        Measured rotation rate
+        Measured number of valid points
+        Viewer screen size (pygame), always square dimensions
+        Change colours of pygame objects (points, rays, background, etc.)
+
+    Methods of Interest:
+      constructor (init) - ('port info', baud_rate, timeout, screen_size, draw_rays_at_start, DEBUG_MODE)
+	  connect()
+	  disconnect()
+	  get_device_info()
+	  get_device_health()
+	  get_sample_rate()
+	  start_standard_scan() - 4000 pulses/rec scan rate
+	  start_express_scan() - 8000 pulses/sec scan rate
+	  start_motor_slow() - slowest useable rotation rate
+	  start_motor_14() - 1/4 max rotation rate
+	  start_motor_half() - 1/2 max rotation rate
+	  start_motor_34() - 3/4 max rotation rate
+	  start_motor_max() - fastest/max rotation rate
+	  stop_scan()
+	  reset()