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Upgrade nxt explorer to draw a map

I have made this robot: http://www.nxtprograms.com/explorer/steps.html#Program and i want to upgrade it to draw a map of the environment where he moves.

I have tried a lot of things but never succeeded, and also i can not find a good tutorial to make this.

Can you help me and tell me how to do this?

I am using nxt 2.0 and my robot and the code are the same from the link above.

I wrote in this section because i know that nxt works with lejos too.


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