For this step we will be mounting the window marker and servo t the frame. I couldn't find a great way to do this with the little space I had for it so I just zip tied the marker to the servo and the servo right onto the robot body. It turned out to be pretty rigid and the servo had enough force to make clean, continuous lines. The placement of the pen is key as the closer it is to the magnet (which is the center point that the robot turns around), the cleaner the drawings will turn out.
Once the pen is mounted test out what servo position makes the window touching the window (down position) and what position you want to raise it to (up position). Write these down as you will need to enter them into the arduino code later.