Solve the following well. Follow all directions, it is clear, do this well. For this assignment, you wish to write a robotic arm controller. The controller has one motor for each of the five fingers $($the pinky is finger $0$ and the thumb is finger $4,$ with others in order$).$ Our hardware uses a scheme called memory$-$mapped I$/$O$,$ whereby the hardware intercepts accesses to particular memory locations and interprets them as signals to the hardware device instead of RAM accesses $($thus$,$ these addresses do not

correspond to reads$/$writes of memory, which might not even exist at these addresses.

Following is the Arm User's guide:

The arm$$s API supports the following operations $($and more$)$:

$$ Initialize: write the integer $0$ to memory location $0$xFFEE$5678.$ This will also close all fingers completely.

$$ Ready: Every initialization operation must be followed by this $($once$)$ to ensure that the arm is ready to receive commands. The arm sets bit $7$ of memory location $0$xFFEE$5678$ after it has initialized all its motors and it is ready to receive instructions. In other words, the program must wait for this bit to become $1$ before proceeding.

$$ Open finger k by $\mathrm{.}01$ radians: set bit k $(0<=$ k $<=4)$ of memory location $0$xFFEE$567$C$.$ The upper $16$ bits $($i$.$e$.,$ k$>=16)$ do not map to any I$/$O devices $($and may thus be corrupted as you wish$).$

$$ Close finger k by $\mathrm{.}01$ radians: set bit k$+5(0<=$ k $<=4)$ of memory location $0$xFFEE$567$C$.$Due to mechanical issues $($since motors are far slower than computers$),$ successive openings of the same fingermust be separated by at least $2$ ms$.,$ to avoid motor slippage.

Now following is assignment:

Draw a CFG and write a MIPS program to do the following:

$1.$ Open the index finger completely $($i$.$e$.,3\mathrm{.}14$ radians$).$

$2.$ Open the thumb exactly half way while closing the index finger also exactly half way. You wish to do these two fingers in interspersed manner, not one after the other $$ in other words, this means you should open the index finger by $\mathrm{.}01$ radians, then open the thumb by $\mathrm{.}01$ radians, before closing the index finger more.

Since we don$$t yet have a way to implement time delays, you can simply write delay n as an $[$imaginary$]$ instruction to indicate a delay of n $$s$.$

The same conventions$/$rules as on the previous homework apply, but you may also use the pseudoinstruction li if you want, and of course the branch$-$related instructions $($but not pseudoinstructions$).$ You need a CFG $($and it makes no sense anyway to not draw the CFG first$).$

SO PLEASE ALL DIRECTIONS ARE CLEAR, READ EVERYTHING CAREFULLY, DO THIS ALL WELL, FOLLOW ALL DIRECTIONS, MAKE SURE IT IS CLEAR