A LiDAR system includes a steering system and a light source. In some cases, the steering system includes a rotatable polygon with reflective sides and/or a dispersion optic. The light source produces light signals, such as light pulses. In some cases, the light sources products light pulses at different incident angles and/or different wavelengths. The steering system scans the light signals. In some cases, the light pulses are scanned based on the wavelength of the light pulses.