A while ago I posted a short video of the results of a robot being driven around manually while recording range data with a spinning distance sensor. Several people had asked for me to post my code. I didn't write all of that code though so I decided to create a new robot that I could use as a test bench which would do a similar thing but with entirely my own code. The previous robot used a map that was essentially a bitmap. The big problem with that is that you can't have too big of a map. This new robot will save the original scans along with the location where the scan was taken. If a map is needed, one can be generated from those scans at whatever grid size you want within whatever bounds you want.
Code will be located here: github.com/jack-buffington/mappingRobot
I'll be posting some videos periodically from now on talking about my progress and how things work at that time. (Updated 9/20/21)