Please answer all the parts of the problem. As data is not provided, any explanation of the questions will also work. Thanks.

Timer uses a 16 bit counter register. 5. The process of determining changes in the haptic wheel position by reading an encoder is an example of event based sampling. With event based sampling, samples are not taken at a constant rate. Instead, samples are taken when events occur that yield measurements. In the case of an encoder, an event is the detection of a leading or trailing edge of a quadrature signal, which occurs every time the wheel rotates by an angle that depends on the resolution of the encoder. Only if the wheel is rotating with constant angular velocity do these events occur at fixed intervals of time so that we have a constant sampling frequency. (a) With the 1000 CPR encoder used in the embedded control systems lab, what angle of rotation will cause an event to occur and thus a sample to be taken? (b) Suppose that the haptic wheel is rotating at a constant rate R Hz. For the 1000 CPR encoder used in the embedded control lab, what is the resulting sampling frequency f.? (c) Does this sampling frequency satisfy the hypotheses of the Shannon sampling the- orem? Timer uses a 16 bit counter register. 5. The process of determining changes in the haptic wheel position by reading an encoder is an example of event based sampling. With event based sampling, samples are not taken at a constant rate. Instead, samples are taken when events occur that yield measurements. In the case of an encoder, an event is the detection of a leading or trailing edge of a quadrature signal, which occurs every time the wheel rotates by an angle that depends on the resolution of the encoder. Only if the wheel is rotating with constant angular velocity do these events occur at fixed intervals of time so that we have a constant sampling frequency. (a) With the 1000 CPR encoder used in the embedded control systems lab, what angle of rotation will cause an event to occur and thus a sample to be taken? (b) Suppose that the haptic wheel is rotating at a constant rate R Hz. For the 1000 CPR encoder used in the embedded control lab, what is the resulting sampling frequency f.? (c) Does this sampling frequency satisfy the hypotheses of the Shannon sampling the- orem