RPLidar based 3D Area Scanner

In the past, I've worked with Faro 3d laser scanners to assist with taking field measurements. 3d scans greatly simplify home and professional projects and I miss having access to a 3d scanner. So I've been working to duplicate some of the functionality for under 250$ or so.

I've updated the scanner a bit.
Rev3
no longer uses an angle sensor on the z axis motor instead the BB PRU is used to generate the steps to the motor, I found this method can match the theoretical angular resolution of the sensor without the cost or errors.

I added a 3d printed planetary reduce to the stepper to, in theory, increase the z axis steps maximum,

YouTube link.

https://www.youtube.com/watch?v=2kTk2au4hYA