1. (20 pts) Trapezoidal Velocity Profile: For a certain application, it is desired to program the BaseBot to move forward in the following pattern i. Start from standstill. ii. Move forward at 3/4 speed for 1 sec. ili. Move forward at 1/2 speed for 1 sec. iv. Move forward at 1/4 speed for 1 sec. v. Move forward at full speed for 15 sec. vi. Move forward at 1/4 speed for 1 sec vii. Move forward at 1/2 speed for 1 sec. vii. Move forward at 3/4 speed for 1 sec. ix. Stop Make sure you use functions, constants and loops effectively. Also, add comments to your code