The LTP Board handles all the functions necassary for a 2D lidar head with good performace at low cost. It interfaces with a 4000 count incremental encoder with an index channel to give 0.09 degrees of angular positional resolution. It also communicates with a brushed motor controller to provide servo control of the 2D head and speeds over 800 RPM. The sampling rate of the lidar is dependant on operating conditions (for example distant targets take longer to process) and varies from 250-500Hz. The whole system interfaces with a host computer via a USB-serial connection via the FT232 chip.