Two ultrasonic sensors on a servo for angle and distance data

I plan to use this system for SLAM. The two ultrasonic sensors are on a gear with a slip ring to allow the wires to pass through without getting tangled. The servo is a cheap continuous servo with a little magnet on top to track the angle. To figure out the angle of the servo I used a magnetic rotary encoder. If you are interested in the code and parts leave a comment down below.

Magnetic Rotary Encoder for the angles - http://www.digikey.com/product-detail/en/AS5040-SS_EK_AB/AS5040-EK-AB-ND/2339617

3D printed parts - http://www.thingiverse.com/thing:1502192

Slip ring - https://www.adafruit.com/products/736?gclid=Cj0KEQjwrte4BRD-oYi3y5_AhZ4BEiQAzIFxn8B-UdSSQ3XN3ZAhM06uojwH-ppDDBCl_So_PGpe1b0aAm3y8P8HAQ

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Видео Two ultrasonic sensors on a servo for angle and distance data канала Channel Everything