Design hull w/ mounting brackets for electronics, sensors, batteries

[MFauzanAP]

Very WIP picture of the hull design, no mounting yet

• Made the electronics hull shorter and put it near the back so we can counterbalance the heavy arm / ball dropper that might be placed at the front. Also makes access to the electronics easy (hopefully)
• The top enclosure is to place the batteries, temporarily around 300mm long, might keep it around that length for the longer LiPo batteries.
• Highlighted in red is an extra piece of aluminum extrusion to support the middle which is currently a bit weak structurally (stronger with thruster brackets but doesnt hurt to have an extra frame there)

Let me know what you think about the design, currently I think it might have a bit too much aluminum (not a problem in terms of weight, they are very light), but it may be necessary to support the enclosures

[MFauzanAP]

Finished adding the different hulls, now working on the hull mounting.

• Final mass is ~28kg with ~29kg of buoyant force
• Added sensor hull
• Changed electronics hull to aluminum

[MFauzanAP]

@khalidbelkhair brought up some good points about the current design. Hence, we decided to modify the current design to fix these issues and came up with the following solutions:

Blocked Horizontal Thrusters

Thrusters being blocked in the current configuration, cannot take enough water for thrust, decreasing efficiency/power

Before

After

Simple rearrangement of the brackets and extrusions allow more room for the thrusters to pull in water.

Vertical Thrusters Not In Ideal Location

The thrusters need to be as far away as possible from the COM to provide more torque, making it easier to turn. Additionally, it helps with supporting the heavier payloads at the front. Currently, the vertical thrusters are too close to the COM.

Before

After

We can either place it in the red circles in the first image, or place it opposite the horizontal thrusters, like in the second image. But when we do this, we will need to have a protective cage around it to prevent it from being damaged.

[MFauzanAP]

Done, will revisit later when we start doing FEA to ensure things work properly / optimally