After Intro to Photonics I repurposed the Lidar to do the reverse. First it used the distance sensor to figure out how far away the wall was and then plotted spirals on the wall using a regular laser. The system switched between a few different shapes and speeds. One time our cat decided he had found the laser by staring directly into it. We immediately fixed that by constantly measuring the distance and if anything was too close would turn off the laser. The actual path taken was displayed on a TFT display in red and the goal path was in blue.
