Lake finding algorithm:

This is a state diagram of the operation of the robot in order to find a lake. The algorithm is based on the mechanical design of the robot that can rotate the front wheel 90 degrees. It starts by checking if there is a lake in the camera view or not. If not it starts steering the front wheel 90 degrees to the right until it finds a lake or the light sensor detects a hole. On hole detection it steers to the other side searching for a lake. If it finds a hole again then it is between 2 holes and the moves backwards a bit and starts searching again. upon finding a lake the robots move forwards while adjusting the steering degree of the wheel as a factor of the lake orientation relative to the display. when the lake disappears from the screen as a result of dead zone, the robot moves further until the center light sensor finds the lake and it measures the temperature and sends it. In case a hole is detected while moving towards the lake, the robot tries to move around the hole keeping into mind the orientation of the targeted lake. This is a recursive procedure or steering to the other direction then moving forward then steering back until there is no obstacle and the lake is reached safely.