diff --git a/.gitignore b/.gitignore
index 9f99aba..4180b3e 100644
--- a/.gitignore
+++ b/.gitignore
@@ -7,3 +7,5 @@
 *.jpg
 *.jpeg
 *.DS_Store
+
+!examples/*
diff --git a/README.md b/README.md
index e63d688..9265016 100644
--- a/README.md
+++ b/README.md
@@ -1,11 +1,26 @@
-##Mapbot(s?), bot(s?) to map an indoor area
+# mapbots
 
-###Workflow
+An army of midget bots for mapping an indoor area.
 
-* each maintainer has their own branch
-* maintainers send pull requests to master to merge
-* a non-zero number of maintainers distinct from pull-request originator reviewcommits before merging
+We've referred to [these][1] [two][2] sources extensively for implementing the algorithm. Thanks!
 
-###bylaws
-* a maintainer may only push to branches they created
-* a maintainer may branch off another maintainer's branch to add features/fixes, and then send a PR to the branch they branched off from
+* [`examples/`](https://github.com/static-code-generators/mapbots/tree/master/examples): Outputs of running our bot and algorithm on different sample spaces
+* [`bot_stuff/`](https://github.com/static-code-generators/mapbots/tree/master/bot_stuff): Bot-side code and schematics
+* [`server_stuff/`](https://github.com/static-code-generators/mapbots/tree/master/server_stuff): Server-side code for the map generation algorithm(s)
+
+Go to the above sub-directories for more details!
+
+## Results
+
+### Pentagonal Area
+
+<img src="https://raw.githubusercontent.com/static-code-generators/mapbots/master/examples/pentagon_source.jpg" alt="enclosure" height="200">
+<img src="https://raw.githubusercontent.com/static-code-generators/mapbots/master/examples/pentagon.png" alt="result" height="400">
+
+### Rectangular Area
+
+<img src="https://raw.githubusercontent.com/static-code-generators/mapbots/master/examples/rect_source.jpg" alt="enclosure" height="200">
+<img src="https://raw.githubusercontent.com/static-code-generators/mapbots/master/examples/rect.png" alt="result" height="400">
+
+[1]: http://acoustics.mit.edu/GOATS/2002publications/8.pdf "Robust Mapping and Localization in Indoor Environments Using Sonar Data"
+[2]: http://www.iri.upc.edu/people/jsola/JoanSola/objectes/curs_SLAM/SLAM2D/SLAM%20course.pdf "Simulataneous Localization and Mapping with the Extended Kalman Filter"
diff --git a/arduino/serial/serial.ino b/arduino/serial/serial.ino
deleted file mode 100644
index bee5318..0000000
--- a/arduino/serial/serial.ino
+++ /dev/null
@@ -1,21 +0,0 @@
-#include<SoftwareSerial.h>
-SoftwareSerial espSerial(10,11);
-void setup() {
-  // put your setup code here, to run once:  
-  Serial.begin(115200);
-  espSerial.begin(115200);
-
-
-}
-
-void loop() {
-  // put your main code here, to run repeatedly:
-  while (espSerial.available() > 0) {
-    Serial.write(espSerial.read());
-  }
-  while (Serial.available() > 0) {
-    espSerial.write(Serial.read());
-  }
-
-
-}
diff --git a/arduino/ultrasonic/ultrasonic.ino b/arduino/ultrasonic/ultrasonic.ino
deleted file mode 100644
index 573cabd..0000000
--- a/arduino/ultrasonic/ultrasonic.ino
+++ /dev/null
@@ -1,239 +0,0 @@
-#include<SoftwareSerial.h>
-
-#define SSID "ECE CLUB ROOM"
-#define PASS "ece@iiitd"
-#define IP "10.0.0.4" // Server IP
-#define PORT "5555" // Server port
-
-const int echoPin = 7; // Echo Pin
-const int trigPin = 8; // Trigger Pin
-const int LEDPin = 13;// connected LED
-const int maximumRange = 4; // Maximum range of sensor in metres
-const int minimumRange = 0; // Minimum range needed
-float pingTime = 0;
-float targetDistance = 0; // Duration used to calculate distance
-const int speedofSound = 336; //constant in m/s
-
-int id = 0;
-
-int writeString (String buffer, int len);
-int connectWiFi();
-int connectServer();
-void errorLED(int errorCode);
-
-enum errorType
-{
-  noModule,
-  noWiFi,
-  noServer,
-  badData
-};
-
-SoftwareSerial espSerial(10, 11); // RX, TX
-
-void setup() {
-  Serial.begin(115200);
-  espSerial.begin(115200);
-
-  while (!moduleWorking()) {
-    errorLED(noModule);
-  }
-
-  pinMode(trigPin, OUTPUT); //sonic pulse from trigPin
-  pinMode(echoPin, INPUT);   //detection at Echo Pin
-  pinMode(LEDPin, OUTPUT); // Use LED indicator (if required)
-
-  while (!connectWiFi()) {
-    errorLED(noWiFi);
-  }
-  int temp;
-  while ((temp = connectWiFi()) == 0) {
-    errorLED(noWiFi);
-    Serial.println("connectWiFi: " + String(temp));
-    temp = connectServer();
-  }
-  while ((temp = connectServer()) == 0) {
-    errorLED(noServer);
-    Serial.println("connectServer: " + String(temp));
-    temp = connectServer();
-  }
-}
-
-void loop() {
-  delay(2000);
-  /*while (espSerial.available() > 0) {
-    Serial.write(espSerial.read());
-    }*/
-  espSerial.flush();
-
-  digitalWrite(trigPin, LOW);
-  delayMicroseconds(2000);
-  digitalWrite(trigPin, HIGH);
-  delayMicroseconds(20);
-  digitalWrite(trigPin, LOW);
-  pingTime = pulseIn(echoPin, HIGH);
-  /* Calculate the distance (in metres) based on the speed of sound. */
-  pingTime = pingTime / 1000000.; //calculate time in seconds
-  targetDistance = (speedofSound * pingTime); //twice distance in metres
-  targetDistance = targetDistance / 2;
-  if (targetDistance >= maximumRange || targetDistance <= minimumRange)
-  {
-    /* Send a negative number to computer and Turn LED ON
-       to indicate "out of range" */
-    writeString("1 -1", 4);
-    errorLED(badData);
-  }
-  else {
-    /* Send the distance to the computer using Serial protocol, and
-       turn LED OFF to indicate successful reading. */
-    String stringOne = "1 ";
-    String targetDistanceString = stringOne + String(targetDistance);
-    targetDistanceString += "\r\n";
-    Serial.println(targetDistanceString);
-    if (!writeString(targetDistanceString, targetDistanceString.length()))
-      errorLED(noModule);
-    //    digitalWrite(LEDPin, LOW);
-  }
-  //Delay 1s before next reading.
-  delay(1000);
-}
-
-
-int connectWiFi() {
-  espSerial.print("AT+CWMODE=1\r\n");
-  Serial.println("AT+CWMODE=1");
-  delay(2000);
-  String cmd = "AT+CWJAP=\"";
-  cmd += SSID;
-  cmd += "\",\"";
-  cmd += PASS;
-  cmd += "\"";
-  espSerial.print(cmd);
-  espSerial.print("\r\n");
-  Serial.print(cmd);
-  espSerial.print("\r\n");
-  delay(5000);
-  if (int res = findOK()) {
-    Serial.println("FIND OUT ->" + String(res));
-    //    monitor.println("RECEIVED: OK");
-    return 1;
-  } else {
-    return 0;
-  }
-}
-
-int moduleWorking() {
-  Serial.println("AT");
-  espSerial.print("AT");
-  espSerial.print("\r\n");
-  return findOK();
-}
-
-int connectServer() {
-  Serial.println("AT+CIPMUX=1");
-  espSerial.print("AT+CIPMUX=1\r\n");
-  String cmd = "AT+CIPSTART=0,\"TCP\"";
-  cmd += ",\"";
-  cmd += IP;
-  cmd += "\",";
-  cmd += PORT;
-  cmd += "\r\n";
-  Serial.println(cmd);
-  espSerial.print(cmd);
-  delay(2000);
-
-  if (int res = findOK()) {
-    //Serial.println("FIND OUT ->" + String(res));
-    return 1;
-  }
-  else {
-    return 0;
-  }
-}
-
-int writeString (String buffer, int len) {
-  Serial.print("AT+CIPSEND=");
-  Serial.print(id);
-  Serial.print(",");
-  Serial.print(len);
-  Serial.print("\r\n");
-  Serial.print(buffer);
-  Serial.print("\r\n");
-
-  String cmd = "AT+CIPSEND=";
-  cmd += String(id);
-  cmd += ",";
-  cmd += String(len);
-  cmd += "\r\n";
-
-  espSerial.print(cmd);
-  delay(5);
-
-  espSerial.print(buffer);
-
-  return 1;
-}
-
-void errorLED(errorType error) {
-  if (error == noModule) {
-    int state = HIGH;
-    int toggle = HIGH ^ LOW;
-    for (int i = 0; i < 7; state ^= toggle, ++i)
-    {
-      digitalWrite(LEDPin, state);
-      delay(143);
-    }
-  } else if (error == noWiFi) {
-    digitalWrite(LEDPin, HIGH);
-    delay(1000);
-  } else if (error == noServer) {
-    int state = HIGH;
-    int toggle = HIGH ^ LOW;
-    for (int i = 0; i < 3; state ^= toggle, ++i)
-    {
-      digitalWrite(LEDPin, state);
-      delay(333);
-    }
-  } else if (error == badData) {
-    int state = HIGH;
-    int toggle = HIGH ^ LOW;
-    for (int i = 0; i < 5; state ^= toggle, ++i)
-    {
-      digitalWrite(LEDPin, state);
-      delay(200);
-    }
-  }
-  digitalWrite(LEDPin, LOW);
-}
-
-int findOK() {
-  char inData[100];
-  char inChar;
-  int index = 0;
-  delay(5);
-  while (espSerial.available() > 0) // Don't read unless
-    // there you know there is data
-  {
-    //Serial.println(espSerial.available());
-    if (index < 99) // One less than the size of the array
-    {
-      inChar = espSerial.read(); // Read a character
-      inData[index] = inChar; // Store it
-      index++; // Increment where to write next
-    } else {
-      break;
-    }
-  }
-
-  inData[index] = '\0'; // Null terminate the string
-  Serial.println(inData);
-  int foundOK = 0;
-  for (index = 0; inData[index + 1]; index++) {
-    if (inData[index] == 'O' && inData[index + 1] == 'K') {
-      foundOK = 1;
-      break;
-    }
-  }
-  return foundOK;
-}
-
diff --git a/bot_stuff/README.md b/bot_stuff/README.md
new file mode 100644
index 0000000..9b8ef2f
--- /dev/null
+++ b/bot_stuff/README.md
@@ -0,0 +1,19 @@
+# mapbots/bot_stuff
+
+## Code
+
+Most of the sketches here are present for historial and testing purposes.
+The following folders are the important ones:
+
+* `bot_final`: The final Arduino sketch; does obstacle-avoidance, moves around and
+collects readings by rotating servo, sends readings via Bluetooth in format required
+by server-side code.
+* `Libraries/`: Contains the following:
+    * `Direction.h`: Functions for movement
+    * `Constants.h`: Constant pin definitions
+    * `Sensor.h`: Functions for taking readings from an array of ultrasonic sensors
+
+## Hardware
+
+<img src="https://3.bp.blogspot.com/-9X0Zeg9Yaig/Vyf9BvbrNTI/AAAAAAAAEew/NfobdMTVeGY3W1fpQS2nMPPd8JefnnlbgCLcB/s1600/photo_2016-05-03_06-50-50.jpg" alt="schematic" height="500">
+<img src="https://3.bp.blogspot.com/-ZeWhXZpw8ys/Vyfc2ddf4MI/AAAAAAAAEeE/55zDGMC1nWMUJPjn8B_DkksUMb3HbMGSQCLcB/s1600/photo_2016-05-03_04-31-10.jpg" alt="bot" height="400">
diff --git a/esp8266_stuff/ESP8266_AT b/esp8266_stuff/ESP8266_AT
deleted file mode 160000
index 4d00060..0000000
--- a/esp8266_stuff/ESP8266_AT
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 4d00060634d4c74267ad38d27aa58805680a872c
diff --git a/esp8266_stuff/esp-at-commands.md b/esp8266_stuff/esp-at-commands.md
deleted file mode 100644
index 82f351a..0000000
--- a/esp8266_stuff/esp-at-commands.md
+++ /dev/null
@@ -1,15 +0,0 @@
-## List of commands to run
-```
-AT+CWJAP="SSID","PASSWORD"
-AT+CWMODE=1
-AT+CIPMUX=1
-AT+CIPSTART=0,"TCP","<server-ip>",<port>
-AT+CIPSEND=0,10 followed by data
-AT+CIPCLOSE=0
-```
-### Connect to AP
-```
-AT+CWLAP # List of APs
-AT+CWJAP="<SSID>","<PASS>"
-AT+CIFSR # Show assigned IP
-```
diff --git a/esp8266_stuff/esptool.py b/esp8266_stuff/esptool.py
deleted file mode 100644
index b6a8876..0000000
--- a/esp8266_stuff/esptool.py
+++ /dev/null
@@ -1,844 +0,0 @@
-#!/usr/bin/env python
-#
-# ESP8266 ROM Bootloader Utility
-# https://github.com/themadinventor/esptool
-#
-# Copyright (C) 2014 Fredrik Ahlberg
-#
-# This program is free software; you can redistribute it and/or modify it under
-# the terms of the GNU General Public License as published by the Free Software
-# Foundation; either version 2 of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful, but WITHOUT
-# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-# FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
-#
-# You should have received a copy of the GNU General Public License along with
-# this program; if not, write to the Free Software Foundation, Inc., 51 Franklin
-# Street, Fifth Floor, Boston, MA 02110-1301 USA.
-
-import sys
-import struct
-import serial
-import time
-import argparse
-import os
-import subprocess
-import tempfile
-import inspect
-
-
-class ESPROM:
-    # These are the currently known commands supported by the ROM
-    ESP_FLASH_BEGIN = 0x02
-    ESP_FLASH_DATA  = 0x03
-    ESP_FLASH_END   = 0x04
-    ESP_MEM_BEGIN   = 0x05
-    ESP_MEM_END     = 0x06
-    ESP_MEM_DATA    = 0x07
-    ESP_SYNC        = 0x08
-    ESP_WRITE_REG   = 0x09
-    ESP_READ_REG    = 0x0a
-
-    # Maximum block sized for RAM and Flash writes, respectively.
-    # ESP_RAM_BLOCK   = 0x1800
-    ESP_RAM_BLOCK   = 0x18
-    # ESP_FLASH_BLOCK = 0x400
-    ESP_FLASH_BLOCK = 0x4
-
-    # Default baudrate. The ROM auto-bauds, so we can use more or less whatever we want.
-    ESP_ROM_BAUD    = 115200
-
-    # First byte of the application image
-    ESP_IMAGE_MAGIC = 0xe9
-
-    # Initial state for the checksum routine
-    ESP_CHECKSUM_MAGIC = 0xef
-
-    # OTP ROM addresses
-    ESP_OTP_MAC0    = 0x3ff00050
-    ESP_OTP_MAC1    = 0x3ff00054
-
-    # Sflash stub: an assembly routine to read from spi flash and send to host
-    SFLASH_STUB     = "\x80\x3c\x00\x40\x1c\x4b\x00\x40\x21\x11\x00\x40\x00\x80" \
-                      "\xfe\x3f\xc1\xfb\xff\xd1\xf8\xff\x2d\x0d\x31\xfd\xff\x41\xf7\xff\x4a" \
-                      "\xdd\x51\xf9\xff\xc0\x05\x00\x21\xf9\xff\x31\xf3\xff\x41\xf5\xff\xc0" \
-                      "\x04\x00\x0b\xcc\x56\xec\xfd\x06\xff\xff\x00\x00"
-
-    def __init__(self, port=0, baud=ESP_ROM_BAUD):
-        self._port = serial.Serial(port)
-        # setting baud rate in a separate step is a workaround for
-        # CH341 driver on some Linux versions (this opens at 9600 then
-        # sets), shouldn't matter for other platforms/drivers. See
-        # https://github.com/themadinventor/esptool/issues/44#issuecomment-107094446
-        self._port.baudrate = baud
-        self.in_bootloader = False  # actually unknown, but assume not
-
-    """ Read bytes from the serial port while performing SLIP unescaping """
-    def read(self, length=1):
-        b = ''
-        while len(b) < length:
-            c = self._port.read(1)
-            if c == '\xdb':
-                c = self._port.read(1)
-                if c == '\xdc':
-                    b = b + '\xc0'
-                elif c == '\xdd':
-                    b = b + '\xdb'
-                else:
-                    raise FatalError('Invalid SLIP escape')
-            else:
-                b = b + c
-        return b
-
-    """ Write bytes to the serial port while performing SLIP escaping """
-    def write(self, packet):
-        buf = '\xc0' \
-              + (packet.replace('\xdb','\xdb\xdd').replace('\xc0','\xdb\xdc')) \
-              + '\xc0'
-        self._port.write(buf)
-
-    """ Calculate checksum of a blob, as it is defined by the ROM """
-    @staticmethod
-    def checksum(data, state=ESP_CHECKSUM_MAGIC):
-        for b in data:
-            state ^= ord(b)
-        return state
-
-    """ Send a request and read the response """
-    def command(self, op=None, data=None, chk=0):
-        if op:
-            pkt = struct.pack('<BBHI', 0x00, op, len(data), chk) + data
-            self.write(pkt)
-
-        # tries to get a response until that response has the
-        # same operation as the request or a retries limit has
-        # exceeded. This is needed for some esp8266s that
-        # reply with more sync responses than expected.
-        retries = 100
-        while retries > 0:
-            (op_ret, val, body) = self.receive_response()
-            if op is None or op_ret == op:
-                return val, body  # valid response received
-            retries = retries - 1
-
-        raise FatalError("Response doesn't match request")
-
-    """ Receive a response to a command """
-    def receive_response(self):
-        # Read header of response and parse
-        if self._port.read(1) != '\xc0':
-            raise FatalError('Invalid head of packet')
-        hdr = self.read(8)
-        (resp, op_ret, len_ret, val) = struct.unpack('<BBHI', hdr)
-        if resp != 0x01:
-            raise FatalError('Invalid response 0x%02x" to command' % resp)
-
-        # The variable-length body
-        body = self.read(len_ret)
-
-        # Terminating byte
-        if self._port.read(1) != chr(0xc0):
-            raise FatalError('Invalid end of packet')
-
-        return op_ret, val, body
-
-    """ Perform a connection test """
-    def sync(self):
-        self.command(ESPROM.ESP_SYNC, '\x07\x07\x12\x20' + 32 * '\x55')
-        for i in xrange(7):
-            self.command()
-        self.in_bootloader = True
-
-    """ Try connecting repeatedly until successful, or giving up """
-    def connect(self):
-        print 'Connecting...'
-
-        for _ in xrange(4):
-            # issue reset-to-bootloader:
-            # RTS = either CH_PD or nRESET (both active low = chip in reset)
-            # DTR = GPIO0 (active low = boot to flasher)
-            self._port.setDTR(False)
-            self._port.setRTS(True)
-            time.sleep(0.05)
-            self._port.setDTR(True)
-            self._port.setRTS(False)
-            time.sleep(0.05)
-            self._port.setDTR(False)
-
-            # worst-case latency timer should be 255ms (probably <20ms)
-            self._port.timeout = 0.3
-            for _ in xrange(4):
-                try:
-                    self._port.flushInput()
-                    self._port.flushOutput()
-                    self.sync()
-                    self._port.timeout = 5
-                    return
-                except:
-                    time.sleep(0.05)
-        raise FatalError('Failed to connect to ESP8266')
-
-    """ Read memory address in target """
-    def read_reg(self, addr):
-        res = self.command(ESPROM.ESP_READ_REG, struct.pack('<I', addr))
-        if res[1] != "\0\0":
-            raise FatalError('Failed to read target memory')
-        return res[0]
-
-    """ Write to memory address in target """
-    def write_reg(self, addr, value, mask, delay_us=0):
-        if self.command(ESPROM.ESP_WRITE_REG,
-                        struct.pack('<IIII', addr, value, mask, delay_us))[1] != "\0\0":
-            raise FatalError('Failed to write target memory')
-
-    """ Start downloading an application image to RAM """
-    def mem_begin(self, size, blocks, blocksize, offset):
-        if self.command(ESPROM.ESP_MEM_BEGIN,
-                        struct.pack('<IIII', size, blocks, blocksize, offset))[1] != "\0\0":
-            raise FatalError('Failed to enter RAM download mode')
-
-    """ Send a block of an image to RAM """
-    def mem_block(self, data, seq):
-        if self.command(ESPROM.ESP_MEM_DATA,
-                        struct.pack('<IIII', len(data), seq, 0, 0) + data,
-                        ESPROM.checksum(data))[1] != "\0\0":
-            raise FatalError('Failed to write to target RAM')
-
-    """ Leave download mode and run the application """
-    def mem_finish(self, entrypoint=0):
-        if self.command(ESPROM.ESP_MEM_END,
-                        struct.pack('<II', int(entrypoint == 0), entrypoint))[1] != "\0\0":
-            raise FatalError('Failed to leave RAM download mode')
-        self.in_bootloader = False
-
-    """ Start downloading to Flash (performs an erase) """
-    def flash_begin(self, size, offset):
-        old_tmo = self._port.timeout
-        num_blocks = (size + ESPROM.ESP_FLASH_BLOCK - 1) / ESPROM.ESP_FLASH_BLOCK
-
-        sectors_per_block = 16
-        sector_size = 4096
-        num_sectors = (size + sector_size - 1) / sector_size
-        start_sector = offset / sector_size
-
-        head_sectors = sectors_per_block - (start_sector % sectors_per_block)
-        if num_sectors < head_sectors:
-            head_sectors = num_sectors
-
-        if num_sectors < 2 * head_sectors:
-            erase_size = (num_sectors + 1) / 2 * sector_size
-        else:
-            erase_size = (num_sectors - head_sectors) * sector_size
-
-        self._port.timeout = 20
-        t = time.time()
-        result = self.command(ESPROM.ESP_FLASH_BEGIN,
-                              struct.pack('<IIII', erase_size, num_blocks, ESPROM.ESP_FLASH_BLOCK, offset))[1]
-        if size != 0:
-            print "Took %.2fs to erase flash block" % (time.time() - t)
-        if result != "\0\0":
-            raise FatalError.WithResult('Failed to enter Flash download mode (result "%s")', result)
-        self._port.timeout = old_tmo
-
-    """ Write block to flash """
-    def flash_block(self, data, seq):
-        result = self.command(ESPROM.ESP_FLASH_DATA, struct.pack('<IIII', len(data), seq, 0, 0) + data, ESPROM.checksum(data))[1]
-        if result != "\0\0":
-            raise FatalError.WithResult('Failed to write to target Flash after seq %d (got result %%s)' % seq, result)
-
-    """ Leave flash mode and run/reboot """
-    def flash_finish(self, reboot=False):
-        pkt = struct.pack('<I', int(not reboot))
-        if self.command(ESPROM.ESP_FLASH_END, pkt)[1] != "\0\0":
-            raise FatalError('Failed to leave Flash mode')
-        self.in_bootloader = False
-
-    """ Run application code in flash """
-    def run(self, reboot=False):
-        # Fake flash begin immediately followed by flash end
-        self.flash_begin(0, 0)
-        self.flash_finish(reboot)
-
-    """ Read MAC from OTP ROM """
-    def read_mac(self):
-        mac0 = self.read_reg(self.ESP_OTP_MAC0)
-        mac1 = self.read_reg(self.ESP_OTP_MAC1)
-        if ((mac1 >> 16) & 0xff) == 0:
-            oui = (0x18, 0xfe, 0x34)
-        elif ((mac1 >> 16) & 0xff) == 1:
-            oui = (0xac, 0xd0, 0x74)
-        else:
-            raise FatalError("Unknown OUI")
-        return oui + ((mac1 >> 8) & 0xff, mac1 & 0xff, (mac0 >> 24) & 0xff)
-
-    """ Read SPI flash manufacturer and device id """
-    def flash_id(self):
-        self.flash_begin(0, 0)
-        self.write_reg(0x60000240, 0x0, 0xffffffff)
-        self.write_reg(0x60000200, 0x10000000, 0xffffffff)
-        flash_id = self.read_reg(0x60000240)
-        self.flash_finish(False)
-        return flash_id
-
-    """ Read SPI flash """
-    def flash_read(self, offset, size, count=1):
-        # Create a custom stub
-        stub = struct.pack('<III', offset, size, count) + self.SFLASH_STUB
-
-        # Trick ROM to initialize SFlash
-        self.flash_begin(0, 0)
-
-        # Download stub
-        self.mem_begin(len(stub), 1, len(stub), 0x40100000)
-        self.mem_block(stub, 0)
-        self.mem_finish(0x4010001c)
-
-        # Fetch the data
-        data = ''
-        for _ in xrange(count):
-            if self._port.read(1) != '\xc0':
-                raise FatalError('Invalid head of packet (sflash read)')
-
-            data += self.read(size)
-
-            if self._port.read(1) != chr(0xc0):
-                raise FatalError('Invalid end of packet (sflash read)')
-
-        return data
-
-    """ Abuse the loader protocol to force flash to be left in write mode """
-    def flash_unlock_dio(self):
-        # Enable flash write mode
-        self.flash_begin(0, 0)
-        # Reset the chip rather than call flash_finish(), which would have
-        # write protected the chip again (why oh why does it do that?!)
-        self.mem_begin(0,0,0,0x40100000)
-        self.mem_finish(0x40000080)
-
-    """ Perform a chip erase of SPI flash """
-    def flash_erase(self):
-        # Trick ROM to initialize SFlash
-        self.flash_begin(0, 0)
-
-        # This is hacky: we don't have a custom stub, instead we trick
-        # the bootloader to jump to the SPIEraseChip() routine and then halt/crash
-        # when it tries to boot an unconfigured system.
-        self.mem_begin(0,0,0,0x40100000)
-        self.mem_finish(0x40004984)
-
-        # Yup - there's no good way to detect if we succeeded.
-        # It it on the other hand unlikely to fail.
-
-
-class ESPFirmwareImage:
-
-    def __init__(self, filename=None):
-        self.segments = []
-        self.entrypoint = 0
-        self.flash_mode = 0
-        self.flash_size_freq = 0
-
-        if filename is not None:
-            f = file(filename, 'rb')
-            (magic, segments, self.flash_mode, self.flash_size_freq, self.entrypoint) = struct.unpack('<BBBBI', f.read(8))
-
-            # some sanity check
-            if magic != ESPROM.ESP_IMAGE_MAGIC or segments > 16:
-                raise FatalError('Invalid firmware image')
-
-            for i in xrange(segments):
-                (offset, size) = struct.unpack('<II', f.read(8))
-                if offset > 0x40200000 or offset < 0x3ffe0000 or size > 65536:
-                    raise FatalError('Suspicious segment 0x%x, length %d' % (offset, size))
-                segment_data = f.read(size)
-                if len(segment_data) < size:
-                    raise FatalError('End of file reading segment 0x%x, length %d (actual length %d)' % (offset, size, len(segment_data)))
-                self.segments.append((offset, size, segment_data))
-
-            # Skip the padding. The checksum is stored in the last byte so that the
-            # file is a multiple of 16 bytes.
-            align = 15 - (f.tell() % 16)
-            f.seek(align, 1)
-
-            self.checksum = ord(f.read(1))
-
-    def add_segment(self, addr, data):
-        # Data should be aligned on word boundary
-        l = len(data)
-        if l % 4:
-            data += b"\x00" * (4 - l % 4)
-        if l > 0:
-            self.segments.append((addr, len(data), data))
-
-    def save(self, filename):
-        f = file(filename, 'wb')
-        f.write(struct.pack('<BBBBI', ESPROM.ESP_IMAGE_MAGIC, len(self.segments),
-                            self.flash_mode, self.flash_size_freq, self.entrypoint))
-
-        checksum = ESPROM.ESP_CHECKSUM_MAGIC
-        for (offset, size, data) in self.segments:
-            f.write(struct.pack('<II', offset, size))
-            f.write(data)
-            checksum = ESPROM.checksum(data, checksum)
-
-        align = 15 - (f.tell() % 16)
-        f.seek(align, 1)
-        f.write(struct.pack('B', checksum))
-
-
-class ELFFile:
-
-    def __init__(self, name):
-        self.name = binutils_safe_path(name)
-        self.symbols = None
-
-    def _fetch_symbols(self):
-        if self.symbols is not None:
-            return
-        self.symbols = {}
-        try:
-            tool_nm = "xtensa-lx106-elf-nm"
-            if os.getenv('XTENSA_CORE') == 'lx106':
-                tool_nm = "xt-nm"
-            proc = subprocess.Popen([tool_nm, self.name], stdout=subprocess.PIPE)
-        except OSError:
-            print "Error calling %s, do you have Xtensa toolchain in PATH?" % tool_nm
-            sys.exit(1)
-        for l in proc.stdout:
-            fields = l.strip().split()
-            try:
-                if fields[0] == "U":
-                    print "Warning: ELF binary has undefined symbol %s" % fields[1]
-                    continue
-                self.symbols[fields[2]] = int(fields[0], 16)
-            except ValueError:
-                raise FatalError("Failed to strip symbol output from nm: %s" % fields)
-
-    def get_symbol_addr(self, sym):
-        self._fetch_symbols()
-        return self.symbols[sym]
-
-    def get_entry_point(self):
-        tool_readelf = "xtensa-lx106-elf-readelf"
-        if os.getenv('XTENSA_CORE') == 'lx106':
-            tool_readelf = "xt-readelf"
-        try:
-            proc = subprocess.Popen([tool_readelf, "-h", self.name], stdout=subprocess.PIPE)
-        except OSError:
-            print "Error calling %s, do you have Xtensa toolchain in PATH?" % tool_readelf
-            sys.exit(1)
-        for l in proc.stdout:
-            fields = l.strip().split()
-            if fields[0] == "Entry":
-                return int(fields[3], 0)
-
-    def load_section(self, section):
-        tool_objcopy = "xtensa-lx106-elf-objcopy"
-        if os.getenv('XTENSA_CORE') == 'lx106':
-            tool_objcopy = "xt-objcopy"
-        tmpsection = binutils_safe_path(tempfile.mktemp(suffix=".section"))
-        try:
-            subprocess.check_call([tool_objcopy, "--only-section", section, "-Obinary", self.name, tmpsection])
-            with open(tmpsection, "rb") as f:
-                data = f.read()
-        finally:
-            os.remove(tmpsection)
-        return data
-
-
-def arg_auto_int(x):
-    return int(x, 0)
-
-
-def div_roundup(a, b):
-    """ Return a/b rounded up to nearest integer,
-    equivalent result to int(math.ceil(float(int(a)) / float(int(b))), only
-    without possible floating point accuracy errors.
-    """
-    return (int(a) + int(b) - 1) / int(b)
-
-
-def binutils_safe_path(p):
-    """Returns a 'safe' version of path 'p' to pass to binutils
-
-    Only does anything under Cygwin Python, where cygwin paths need to
-    be translated to Windows paths if the binutils wasn't compiled
-    using Cygwin (should also work with binutils compiled using
-    Cygwin, see #73.)
-    """
-    if sys.platform == "cygwin":
-        try:
-            return subprocess.check_output(["cygpath", "-w", p]).rstrip('\n')
-        except subprocess.CalledProcessError:
-            print "WARNING: Failed to call cygpath to sanitise Cygwin path."
-    return p
-
-
-class FatalError(RuntimeError):
-    """
-    Wrapper class for runtime errors that aren't caused by internal bugs, but by
-    ESP8266 responses or input content.
-    """
-    def __init__(self, message):
-        RuntimeError.__init__(self, message)
-
-    @staticmethod
-    def WithResult(message, result):
-        """
-        Return a fatal error object that includes the hex values of
-        'result' as a string formatted argument.
-        """
-        return FatalError(message % ", ".join(hex(ord(x)) for x in result))
-
-
-# "Operation" commands, executable at command line. One function each
-#
-# Each function takes either two args (<ESPROM instance>, <args>) or a single <args>
-# argument.
-
-def load_ram(esp, args):
-    image = ESPFirmwareImage(args.filename)
-
-    print 'RAM boot...'
-    for (offset, size, data) in image.segments:
-        print 'Downloading %d bytes at %08x...' % (size, offset),
-        sys.stdout.flush()
-        esp.mem_begin(size, div_roundup(size, esp.ESP_RAM_BLOCK), esp.ESP_RAM_BLOCK, offset)
-
-        seq = 0
-        while len(data) > 0:
-            esp.mem_block(data[0:esp.ESP_RAM_BLOCK], seq)
-            data = data[esp.ESP_RAM_BLOCK:]
-            seq += 1
-        print 'done!'
-
-    print 'All segments done, executing at %08x' % image.entrypoint
-    esp.mem_finish(image.entrypoint)
-
-
-def read_mem(esp, args):
-    print '0x%08x = 0x%08x' % (args.address, esp.read_reg(args.address))
-
-
-def write_mem(esp, args):
-    esp.write_reg(args.address, args.value, args.mask, 0)
-    print 'Wrote %08x, mask %08x to %08x' % (args.value, args.mask, args.address)
-
-
-def dump_mem(esp, args):
-    f = file(args.filename, 'wb')
-    for i in xrange(args.size / 4):
-        d = esp.read_reg(args.address + (i * 4))
-        f.write(struct.pack('<I', d))
-        if f.tell() % 1024 == 0:
-            print '\r%d bytes read... (%d %%)' % (f.tell(),
-                                                  f.tell() * 100 / args.size),
-        sys.stdout.flush()
-    print 'Done!'
-
-
-def write_flash(esp, args):
-    flash_mode = {'qio':0, 'qout':1, 'dio':2, 'dout': 3}[args.flash_mode]
-    flash_size_freq = {'4m':0x00, '2m':0x10, '8m':0x20, '16m':0x30, '32m':0x40, '16m-c1': 0x50, '32m-c1':0x60, '32m-c2':0x70}[args.flash_size]
-    flash_size_freq += {'40m':0, '26m':1, '20m':2, '80m': 0xf}[args.flash_freq]
-    flash_info = struct.pack('BB', flash_mode, flash_size_freq)
-
-    for address, argfile in args.addr_filename:
-        image = argfile.read()
-        argfile.seek(0)  # in case we need it again
-        print 'Erasing flash...'
-        blocks = div_roundup(len(image), esp.ESP_FLASH_BLOCK)
-        esp.flash_begin(blocks * esp.ESP_FLASH_BLOCK, address)
-        seq = 0
-        written = 0
-        t = time.time()
-        while len(image) > 0:
-            print '\rWriting at 0x%08x... (%d %%)' % (address + seq * esp.ESP_FLASH_BLOCK, 100 * (seq + 1) / blocks),
-            sys.stdout.flush()
-            block = image[0:esp.ESP_FLASH_BLOCK]
-            # Fix sflash config data
-            if address == 0 and seq == 0 and block[0] == '\xe9':
-                block = block[0:2] + flash_info + block[4:]
-            # Pad the last block
-            block = block + '\xff' * (esp.ESP_FLASH_BLOCK - len(block))
-            esp.flash_block(block, seq)
-            image = image[esp.ESP_FLASH_BLOCK:]
-            seq += 1
-            written += len(block)
-        t = time.time() - t
-        print '\rWrote %d bytes at 0x%08x in %.1f seconds (%.1f kbit/s)...' % (written, address, t, written / t * 8 / 1000)
-    print '\nLeaving...'
-    if args.flash_mode == 'dio':
-        esp.flash_unlock_dio()
-    else:
-        esp.flash_begin(0, 0)
-        esp.flash_finish(False)
-    if args.verify:
-        print 'Verifying just-written flash...'
-        verify_flash(esp, args)
-
-
-def image_info(args):
-    image = ESPFirmwareImage(args.filename)
-    print ('Entry point: %08x' % image.entrypoint) if image.entrypoint != 0 else 'Entry point not set'
-    print '%d segments' % len(image.segments)
-    print
-    checksum = ESPROM.ESP_CHECKSUM_MAGIC
-    for (idx, (offset, size, data)) in enumerate(image.segments):
-        print 'Segment %d: %5d bytes at %08x' % (idx + 1, size, offset)
-        checksum = ESPROM.checksum(data, checksum)
-    print
-    print 'Checksum: %02x (%s)' % (image.checksum, 'valid' if image.checksum == checksum else 'invalid!')
-
-
-def make_image(args):
-    image = ESPFirmwareImage()
-    if len(args.segfile) == 0:
-        raise FatalError('No segments specified')
-    if len(args.segfile) != len(args.segaddr):
-        raise FatalError('Number of specified files does not match number of specified addresses')
-    for (seg, addr) in zip(args.segfile, args.segaddr):
-        data = file(seg, 'rb').read()
-        image.add_segment(addr, data)
-    image.entrypoint = args.entrypoint
-    image.save(args.output)
-
-
-def elf2image(args):
-    if args.output is None:
-        args.output = args.input + '-'
-    e = ELFFile(args.input)
-    image = ESPFirmwareImage()
-    image.entrypoint = e.get_entry_point()
-    for section, start in ((".text", "_text_start"), (".data", "_data_start"), (".rodata", "_rodata_start")):
-        data = e.load_section(section)
-        image.add_segment(e.get_symbol_addr(start), data)
-
-    image.flash_mode = {'qio':0, 'qout':1, 'dio':2, 'dout': 3}[args.flash_mode]
-    image.flash_size_freq = {'4m':0x00, '2m':0x10, '8m':0x20, '16m':0x30, '32m':0x40, '16m-c1': 0x50, '32m-c1':0x60, '32m-c2':0x70}[args.flash_size]
-    image.flash_size_freq += {'40m':0, '26m':1, '20m':2, '80m': 0xf}[args.flash_freq]
-
-    image.save(args.output + "0x00000.bin")
-    data = e.load_section(".irom0.text")
-    off = e.get_symbol_addr("_irom0_text_start") - 0x40200000
-    if off < 0:
-        raise FatalError('Address of symbol _irom0_text_start in ELF is located before flash mapping address. Bad linker script?')
-    f = open(args.output + "0x%05x.bin" % off, "wb")
-    f.write(data)
-    f.close()
-
-
-def read_mac(esp, args):
-    mac = esp.read_mac()
-    print 'MAC: %s' % ':'.join(map(lambda x: '%02x' % x, mac))
-
-
-def erase_flash(esp, args):
-    print 'Erasing flash (this may take a while)...'
-    esp.flash_erase()
-
-
-def run(esp, args):
-    esp.run()
-
-
-def flash_id(esp, args):
-    flash_id = esp.flash_id()
-    print 'Manufacturer: %02x' % (flash_id & 0xff)
-    print 'Device: %02x%02x' % ((flash_id >> 8) & 0xff, (flash_id >> 16) & 0xff)
-
-
-def read_flash(esp, args):
-    print 'Please wait...'
-    file(args.filename, 'wb').write(esp.flash_read(args.address, 1024, div_roundup(args.size, 1024))[:args.size])
-
-
-def verify_flash(esp, args):
-    differences = False
-    for address, argfile in args.addr_filename:
-        if not esp.in_bootloader:
-            esp.connect()
-        image = argfile.read()
-        argfile.seek(0)  # rewind in case we need it again
-        image_size = len(image)
-        print 'Verifying 0x%x (%d) bytes @ 0x%08x in flash against %s...' % (image_size, image_size, address, argfile.name)
-        flash = esp.flash_read(address, 1024, div_roundup(image_size, 1024))[:image_size]
-        if flash == image:
-            print '-- verify OK'
-        else:
-            differences = True
-            diff = [i for i in xrange(image_size) if flash[i] != image[i]]
-            print '-- verify FAILED: %d differences, first @ 0x%08x' % (len(diff), address + diff[0])
-            try:
-                if args.diff == 'yes':
-                    for d in diff:
-                        print '   %08x %02x %02x' % (address + d, ord(flash[d]), ord(image[d]))
-            except AttributeError:
-                pass  # if performing write_flash --verify, there is no .diff attribute
-    if differences:
-        raise FatalError("Verify failed.")
-
-#
-# End of operations functions
-#
-
-
-def main():
-    parser = argparse.ArgumentParser(description='ESP8266 ROM Bootloader Utility', prog='esptool')
-
-    parser.add_argument(
-        '--port', '-p',
-        help='Serial port device',
-        default='/dev/ttyUSB0')
-
-    parser.add_argument(
-        '--baud', '-b',
-        help='Serial port baud rate',
-        type=arg_auto_int,
-        default=ESPROM.ESP_ROM_BAUD)
-
-    subparsers = parser.add_subparsers(
-        dest='operation',
-        help='Run esptool {command} -h for additional help')
-
-    parser_load_ram = subparsers.add_parser(
-        'load_ram',
-        help='Download an image to RAM and execute')
-    parser_load_ram.add_argument('filename', help='Firmware image')
-
-    parser_dump_mem = subparsers.add_parser(
-        'dump_mem',
-        help='Dump arbitrary memory to disk')
-    parser_dump_mem.add_argument('address', help='Base address', type=arg_auto_int)
-    parser_dump_mem.add_argument('size', help='Size of region to dump', type=arg_auto_int)
-    parser_dump_mem.add_argument('filename', help='Name of binary dump')
-
-    parser_read_mem = subparsers.add_parser(
-        'read_mem',
-        help='Read arbitrary memory location')
-    parser_read_mem.add_argument('address', help='Address to read', type=arg_auto_int)
-
-    parser_write_mem = subparsers.add_parser(
-        'write_mem',
-        help='Read-modify-write to arbitrary memory location')
-    parser_write_mem.add_argument('address', help='Address to write', type=arg_auto_int)
-    parser_write_mem.add_argument('value', help='Value', type=arg_auto_int)
-    parser_write_mem.add_argument('mask', help='Mask of bits to write', type=arg_auto_int)
-
-    parser_write_flash = subparsers.add_parser(
-        'write_flash',
-        help='Write a binary blob to flash')
-    parser_write_flash.add_argument('addr_filename', metavar='<address> <filename>', help='Address followed by binary filename, separated by space',
-                                    action=AddrFilenamePairAction)
-    parser_write_flash.add_argument('--flash_freq', '-ff', help='SPI Flash frequency',
-                                    choices=['40m', '26m', '20m', '80m'], default='40m')
-    parser_write_flash.add_argument('--flash_mode', '-fm', help='SPI Flash mode',
-                                    choices=['qio', 'qout', 'dio', 'dout'], default='qio')
-    parser_write_flash.add_argument('--flash_size', '-fs', help='SPI Flash size in Mbit', type=str.lower,
-                                    choices=['4m', '2m', '8m', '16m', '32m', '16m-c1', '32m-c1', '32m-c2'], default='4m')
-    parser_write_flash.add_argument('--verify', help='Verify just-written data (only necessary if very cautious, data is already CRCed', action='store_true')
-
-    subparsers.add_parser(
-        'run',
-        help='Run application code in flash')
-
-    parser_image_info = subparsers.add_parser(
-        'image_info',
-        help='Dump headers from an application image')
-    parser_image_info.add_argument('filename', help='Image file to parse')
-
-    parser_make_image = subparsers.add_parser(
-        'make_image',
-        help='Create an application image from binary files')
-    parser_make_image.add_argument('output', help='Output image file')
-    parser_make_image.add_argument('--segfile', '-f', action='append', help='Segment input file')
-    parser_make_image.add_argument('--segaddr', '-a', action='append', help='Segment base address', type=arg_auto_int)
-    parser_make_image.add_argument('--entrypoint', '-e', help='Address of entry point', type=arg_auto_int, default=0)
-
-    parser_elf2image = subparsers.add_parser(
-        'elf2image',
-        help='Create an application image from ELF file')
-    parser_elf2image.add_argument('input', help='Input ELF file')
-    parser_elf2image.add_argument('--output', '-o', help='Output filename prefix', type=str)
-    parser_elf2image.add_argument('--flash_freq', '-ff', help='SPI Flash frequency',
-                                  choices=['40m', '26m', '20m', '80m'], default='40m')
-    parser_elf2image.add_argument('--flash_mode', '-fm', help='SPI Flash mode',
-                                  choices=['qio', 'qout', 'dio', 'dout'], default='qio')
-    parser_elf2image.add_argument('--flash_size', '-fs', help='SPI Flash size in Mbit',
-                                  choices=['4m', '2m', '8m', '16m', '32m', '16m-c1', '32m-c1', '32m-c2'], default='4m')
-
-    subparsers.add_parser(
-        'read_mac',
-        help='Read MAC address from OTP ROM')
-
-    subparsers.add_parser(
-        'flash_id',
-        help='Read SPI flash manufacturer and device ID')
-
-    parser_read_flash = subparsers.add_parser(
-        'read_flash',
-        help='Read SPI flash content')
-    parser_read_flash.add_argument('address', help='Start address', type=arg_auto_int)
-    parser_read_flash.add_argument('size', help='Size of region to dump', type=arg_auto_int)
-    parser_read_flash.add_argument('filename', help='Name of binary dump')
-
-    parser_verify_flash = subparsers.add_parser(
-        'verify_flash',
-        help='Verify a binary blob against flash')
-    parser_verify_flash.add_argument('addr_filename', help='Address and binary file to verify there, separated by space',
-                                     action=AddrFilenamePairAction)
-    parser_verify_flash.add_argument('--diff', '-d', help='Show differences',
-                                     choices=['no', 'yes'], default='no')
-
-    subparsers.add_parser(
-        'erase_flash',
-        help='Perform Chip Erase on SPI flash')
-
-    # internal sanity check - every operation matches a module function of the same name
-    for operation in subparsers.choices.keys():
-        assert operation in globals(), "%s should be a module function" % operation
-
-    args = parser.parse_args()
-
-    # operation function can take 1 arg (args), 2 args (esp, arg)
-    # or be a member function of the ESPROM class.
-
-    operation_func = globals()[args.operation]
-    operation_args,_,_,_ = inspect.getargspec(operation_func)
-    if len(operation_args) == 2:  # operation function takes an ESPROM connection object
-        esp = ESPROM(args.port, args.baud)
-        esp.connect()
-        operation_func(esp, args)
-    else:
-        operation_func(args)
-
-
-class AddrFilenamePairAction(argparse.Action):
-    """ Custom parser class for the address/filename pairs passed as arguments """
-    def __init__(self, option_strings, dest, nargs='+', **kwargs):
-        super(AddrFilenamePairAction, self).__init__(option_strings, dest, nargs, **kwargs)
-
-    def __call__(self, parser, namespace, values, option_string=None):
-        # validate pair arguments
-        pairs = []
-        for i in range(0,len(values),2):
-            try:
-                address = int(values[i],0)
-            except ValueError as e:
-                raise argparse.ArgumentError(self,'Address "%s" must be a number' % values[i])
-            try:
-                argfile = open(values[i + 1], 'rb')
-            except IOError as e:
-                raise argparse.ArgumentError(self, e)
-            except IndexError:
-                raise argparse.ArgumentError(self,'Must be pairs of an address and the binary filename to write there')
-            pairs.append((address, argfile))
-        setattr(namespace, self.dest, pairs)
-
-if __name__ == '__main__':
-    try:
-        main()
-    except FatalError as e:
-        print '\nA fatal error occurred: %s' % e
-        sys.exit(2)
diff --git a/examples/data_pentagon.csv b/examples/data_pentagon.csv
new file mode 100644
index 0000000..7cecff1
--- /dev/null
+++ b/examples/data_pentagon.csv
@@ -0,0 +1,7416 @@
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diff --git a/examples/data_rect.csv b/examples/data_rect.csv
new file mode 100644
index 0000000..2517f44
--- /dev/null
+++ b/examples/data_rect.csv
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+# mapbots/server_stuff
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