Last Wednesday we have tried to test a larg amount of code; it was supposed to find lakes with the camera, receive the coordinates and drive to the lakes. Also cliff detection (and rejection) was part of it. Unfortunatly, we had communication problems. Sending information and cliff detection worked fine, but receiving coordinates was a problem. Receiving coordinates from the earth computer without other code seemed to work just fine, but the same code with other threads running in parallel seemed te give rise to problems.
In the meantime we have thought about smart roaming/random driving when no lake is found. We have implemented it with cliff detection (and rejection) as can be seen in the video below. The Mars Rover drives straight and then looks for lakes in the neigbourhood, if it doesn't find any it continues driving.
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