casesandmounts.tex

\subsection{Cases and mounts}
\subsectionauthor{Author: Max Unander \\Reviewer: Lars Jonsson}

When designing mounts we started with the ultrasonic sensors, we wanted the sonar arms and cases to double as bumpers so if we hit something like a wall these would hit the wall instead of the propellers. 
This was achieved by simply extending the motor mount arms so that the sonar case would protrude beyond the propellers, see Figure~\ref{fig:sonararm}.


\begin{figure}[H]
	\centering
	\includegraphics[width=0.5\textwidth]{Pictures/sonar3}
	\caption{3D model of a sonar arm in 3D Builder}
	\label{fig:sonararm}
\end{figure}

The 3D model of the case for the sonar we got from "thingiverse.com" see Figure~\ref{fig:sonarcase} since it's a commonly used sensor it was easy to find,

\begin{figure}[H]
	\centering
	\includegraphics[width=0.5\textwidth]{Pictures/sonarfram}
	\caption{3D model of a sonar case in 3D Builder}
	\label{fig:sonarcase}
\end{figure}
We designed a tower that would hold our LIDAR and stepper motor. This elevates the LIDAR so it's field of view is not obstructed by the copter as much and also gives us room to mount the stepper motor.
When designing the tower that would hold our stepper motor and LIDAR we decided to include a mount for our MCU on the side, see Figure~\ref{fig:steppermcu}

\begin{figure}[H]
	\centering
	\includegraphics[width=0.5\textwidth]{Pictures/steppermcu}
	\caption{3D model of the mount that holds the stepper moter with laser scanner and has a mount for the MCU on the side}
	\label{fig:steppermcu}
\end{figure}