The sampling rate of the $12-$bit ADC in each joint of a robot is $2$ kaps. In the application where the position information of each joint of this robot, which has $4$ joints and each joint has a separate ADC, is recorded on the disk a$)$ How much data does the robot working for $10$ minutes write to disk? b$)$ If each joint can rotate $0-300$ degrees, which position can we learn the lowest? c$)$ How many digital output pins does this ADC have?