diff --git a/Hardware:-LiDAR.md b/Hardware:-LiDAR.md
index 2ee46d5..3b6d11f 100644
--- a/Hardware:-LiDAR.md
+++ b/Hardware:-LiDAR.md
@@ -14,29 +14,48 @@ Hardware ID: `0x0003`
 | `3` | `LIDAR_GET_MAP` | `10 kJ` | Generate the current World's map and copy it to memory starting at the address specified in the X register |
 | `4` | `LIDAR_GET_WORLD_POS` | `0 kJ` | Copy the current (x,y) coordinates in the Universe in the X and Y registers |
 
-`LIDAR_GET_PATH` generates a path as a direction sequence of 1 word each starting at memory address `0x0000`. You indicate the coordinates of the destination with the X and Y registers, and specify the desired range (Manhattan distance from the destination) with the B register. For example, if you want to get within 1 tile of a biomass blob, specify a distance of `1`. The last word in the sequence is `0xAAAA` to indicate the end of the path. A single value of `0xFFFF` is set at memory address `0x0000` to indicate an invalid path.   
-`NORTH` = `0x0000`  
-`EAST` = `0x0001`  
-`SOUTH` = `0x0002`  
-`WEST` = `0x0003`  
+#### LIDAR_GET_PATH
+Generates a path as a sequence of words, each representing a direction. The generated path starts at the address `0x0000` but varies in length. It is terminated with the word `0xAAAA`, which represents the end of the path. A single value of `0xFFFF` is set at memory address `0x0000` to indicate an invalid path. If a path could not be generated, then the memory at address `0x0000` is set to `0xFFFF` (Note: The path terminator is not written for invalid paths).
 
+The coordinates of the destination are indicated with the X and Y registers. The desired range (Manhattan distance from the destination) is specified with the B register. For example, if you want to get within 1 tile of a biomass blob, specify a distance of `1`.
 
-`LIDAR_GET_MAP` generates a map of the current world as a tile sequence of 256 words starting at the memory address in the X register, each word representing a tile. The LiDAR starts reading the tiles west to east, north to south: (0,0) (1,0) (2,0) ... (15,0) (0,1) (1,1) ...
+##### Directions
+| Direction | Value    |
+| :-------- | :------- |
+| North     | `0x0000` |
+| East      | `0x0001` |
+| South     | `0x0002` |
+| West      | `0x0003` |
 
-Each tile is encoded as a bit field:  
-`1000 0000 0000 0000` (`0x8000`) : Blocked (wall) tile  
-`0100 0000 0000 0000` (`0x4000`) : Biomass  
-`0010 0000 0000 0000` (`0x2000`) : Factory  
-`0001 0000 0000 0000` (`0x1000`) : Radio Tower  
-`0000 1000 0000 0000` (`0x0800`) : Vault  
-`0000 0100 0000 0000` (`0x0400`) : Electric Box  
-`0000 0010 0000 0000` (`0x0200`) : Iron tile  
-`0000 0001 0000 0000` (`0x0100`) : Copper tile  
-`0000 0000 1000 0000` (`0x0080`) : Cubot  
-`0000 0000 0100 0000` (`0x0040`) : NPC   
-`0000 0000 0010 0000` (`0x0020`) : Portal  
-`0000 0000 0001 0000` (`0x0010`) :     
-`0000 0000 0000 1000` (`0x0008`) :     
-`0000 0000 0000 0100` (`0x0004`) :     
-`0000 0000 0000 0010` (`0x0002`) :     
-`0000 0000 0000 0001` (`0x0001`) :     
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+##### Example generated path
+The memory of a 4 tile path consisting of moving the Cubot north twice, once west, and then once east would look like:
+
+| Address | `0x00` | `0x01` | `0x02` | `0x03` | `0x04`   |
+| ------- | ------ | ------ | ------ | ------ | -------- |
+| Value   | `0x00` | `0x00` | `0x03` | `0x01` | `0xAAAA` |
+
+#### LIDAR_GET_MAP
+Generates a map of the current world as a sequence of 256 words, each word representing a tile. The starting address of the generated map must be specified with the X register. The LiDAR reads the tiles west to east, north to south: (0,0) (1,0) (2,0) ... (15,0) (0,1) (1,1) ... The first 16 words will be the north-most row from west to east, the next 16 words will be the next row down (south), etc. Ending with the south-east most tile.
+
+Each tile is encoded as a bit field. Tiles may contain more than one thing, in which case the value is the bit fields of each thing it contains `OR`'d together. For example, a tile with copper and an NPC would have the bit field `0000 0001 0100 0000` (`0x0140`).
+
+##### Tile content bit fields
+| Bit field             | Value    | Content              |
+| :---------------------| :------- | :------------------- |
+| `1000 0000 0000 0000` | `0x8000` | Blocked (wall) tile  |
+| `0100 0000 0000 0000` | `0x4000` | Biomass              |
+| `0010 0000 0000 0000` | `0x2000` | Factory              |
+| `0001 0000 0000 0000` | `0x1000` | Radio Tower          |
+| `0000 1000 0000 0000` | `0x0800` | Vault                |
+| `0000 0100 0000 0000` | `0x0400` | Electric Box         |
+| `0000 0010 0000 0000` | `0x0200` | Iron tile            |
+| `0000 0001 0000 0000` | `0x0100` | Copper tile          |
+| `0000 0000 1000 0000` | `0x0080` | Cubot                |
+| `0000 0000 0100 0000` | `0x0040` | NPC                  |
+| `0000 0000 0010 0000` | `0x0020` | Portal               |
+| `0000 0000 0001 0000` | `0x0010` |                      |
+| `0000 0000 0000 1000` | `0x0008` |                      |
+| `0000 0000 0000 0100` | `0x0004` |                      |
+| `0000 0000 0000 0010` | `0x0002` |                      |
+| `0000 0000 0000 0001` | `0x0001` |                      |
+| `0000 0000 0000 0000` | `0x0000` | Nothing              |
\ No newline at end of file