What is best way to heat the garage floor (not to expensive)
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See if this helps. My girlfriend did this when they built their house. The garage was custom sloped and has several drains for snow run off during winter. It is amazing though! Their garage is nicer than my house.
http://www.greenbuildingadvisor.com/blogs/dept/qa-spotlight/how-heat-garage
https://www.doityourself.com/forum/garages-garage-door-openers-work-shops-sheds-breezeways-carports/190201-best-way-heat-existing-concrete-garage-floor.html
https://www.concretenetwork.com/radiant-floor-heating/
If you are looking to add heat to the floor, you will need an in floor heating system. There are several different kinds. Water lines run in the floor, electric wires, or hot air pipes. Then you're going to have to pour more concrete on top if you're going to continue to use as a garage.
Are you wanting to use it as an extra room? The cheapest would be foam with a subfloor on top. My sunroom is on a cement slab, and that's how it is insulated.
https://www.thespruce.com/how-to-insulate-garage-floors-1398131