connectionsandwiring.tex

\subsection{Connections and wiring}
\subsectionauthor{Author: Max Unander \\Reviewer: Lars Jonsson}
% Bilder på bägge kontakterna hade nog varit nice, isåfall i en subplot.
When wiring everything up on the copter we used xt60 connectors to distribute power from the battery to ESCs and power board because of their high current capability and keyed design. 
The connectors we used on the shield and power board were "Molex LLC" which have stable locking connection that can only be plugged in one way. 
The only complicated part of the wiring was when connecting the laser scanner, because we wanted to rotate the laser to get 3D images we had to route wires though the motor.
To do this we need to use a slip-ring to avoid twisting the cables see Figure~\ref{fig:slipring}.
% Vet man vad en slip-ring är? kanske måste ha bild här också? eller förklara lite mer.
A hollow shaft stepper motor was used to be able to route wires through the motor.

\begin{figure}[H]
	\centering
	\includegraphics[width=0.3\textwidth]{Pictures/slipring.jpg}
	\caption{Slipring for rotating connection without twisting wires}
	\label{fig:slipring}
\end{figure}