diff --git a/display/dislpay_2d.py b/display/dislpay_2d.py
index 963cfbe..36b7fa4 100644
--- a/display/dislpay_2d.py
+++ b/display/dislpay_2d.py
@@ -1,11 +1,6 @@
 import matplotlib.pyplot as plt
 from matplotlib.animation import FuncAnimation
 import numpy as np
-import matplotlib.gridspec as gridspec
-from mpl_toolkits.axes_grid1.inset_locator import zoomed_inset_axes
-import functools
-from time import sleep
-import itertools
 
 
 #
@@ -22,6 +17,29 @@ class Displayer:
         self._circle_map = {}
         self._objects = []
 
+        self._xlim = [0, 20]
+        self._ylim = [0, 20]
+
+
+    def __init_animation(self):
+        self._ax.set_xlim(self._xlim)
+        self._ax.set_ylim(self._ylim)
+
+        for key in self._circle_map:
+            self._ax.add_patch(self._circle_map[key])
+
+        return self._objects
+
+    
+    #
+    # Functions for initalization
+    #
+
+
+    def set_axis_limits(self, min, max):
+        self._xlim = (min, max)
+        self._ylim = (min, max)
+
 
     def register_object(self, obj_name, obj_color='r'):
         self._object_map[obj_name], = plt.plot([], [], color=obj_color, marker='o')
@@ -31,19 +49,22 @@ class Displayer:
         self._objects.append(self._circle_map[obj_name])
 
 
+    #
+    # Functions to be used in the animation callback
+    #
+
+
     def move_object(self, obj_name, x, y):
         self._object_map[obj_name].set_data([x, y])
         self._circle_map[obj_name].center = (x, y)
 
+    def set_circle_radius(self, obj_name, r):
+        self._circle_map[obj_name].radius = r
 
-    def __init_animation(self):
-        self._ax.set_xlim(0, 20)
-        self._ax.set_ylim(0, 20)
 
-        for key in self._circle_map:
-            self._ax.add_patch(self._circle_map[key])
-
-        return self._objects
+    #
+    # Start the animation
+    #
 
 
     def animate(self, n_steps, anim_callback):
diff --git a/examples/gps_fusion.py b/examples/gps_fusion.py
index a86adfc..993b2bc 100644
--- a/examples/gps_fusion.py
+++ b/examples/gps_fusion.py
@@ -8,11 +8,15 @@ from display.dislpay_2d import Displayer
 
 def update(disp, t):
     disp.move_object("test", t, t)
-    disp.move_object("test2", 20-t, 20-t)
+    disp.move_object("test2", 20-t, t)
+    disp.set_circle_radius("test", t*0.2)
+
 
 def run():
     disp = Displayer(width=6, height=6)
-    #disp.show_object([1, 1], 4, "green")
-    disp.register_object("test")
-    disp.register_object("test2", 'g')
-    disp.animate(n_steps = 100, anim_callback=update)
\ No newline at end of file
+
+    disp.set_axis_limits(min=0, max=20)
+    disp.register_object("test", "red")
+    disp.register_object("test2", "black")
+
+    disp.animate(n_steps = 20, anim_callback=update)
\ No newline at end of file