$2)(25$ points$)$ The door in the doorway egress problem can allow three robots at a time to exit. In the algorithm, robots arrange themselves so that each has a clear path to the door, and they then exit three at a time, with the three closest robots exiting simultaneously. Each robot must determine if it is among the three to exit. Construct a Cortex$-$M$4$ assembly program for a robot $\backslash ($ r $\backslash )$ to do the following. Robot $\backslash ($ r $\backslash )$ holds an array distance with the distance of each other robot to the center of the door. Let robots$\_$seen hold the number of other robots. Variable own$\_$distance holds the distance from $\backslash ($ r $\backslash )$ to the center of the door. Determine if $\backslash ($ r $\backslash )$ is one of the three closest robots. If so$,$ set variable exit to $1$ ; otherwise, set exit to $0.($Note: Each distance is an unsigned integer. We could instead consider each distance as a Q$5$ number, but that would not change the program.$).$ You can assume that no two distances are the same.

Demonstrate your results to the lab TA$.$

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Sample results for Part $2-$ For the following inputs:

distance $=78,291,12,466,280$

robots$\_$seen $=5$

own$\_$distance $=501$

the following output is produced:

exit $=0$

$($If own$\_$distance $=101,$ then exit $=1.)$

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