Algo blocks:

while ( ! cup ) {
  Recognize:
    take picture
    match
    if ( cup ) go_get_cup
  Rotate
    // actual rotation angle depends on camera angle
  if ( full rotation completed )
    Random Walk
}

go_get_cup repeats until having the rover bump into something:

1. fix rover rotation based on cup location in the image, and cup distance
2. drive one distance unit

• Drive distance can be a function of the distance to the cup (e.g. 1/2 dist)
• can validate rotation amount by another cup recognition.