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improvements #1

@mitchcapper

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@mitchcapper

Hi,
I am aware this was primarily part of your research paper however if there was interest I did make some changes to the code. I assume the goal is not to maintain a real library here so I did soft clone the repo rather than actually fork it (as github really treats forks as second class citizens). https://github.com/mitchcapper/pyroomba has the changes. Thanks for a cool project!

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