edit this coded controller file on Webots in c language to make the e$-$puck robot move through the whole maze then return to the highest light intensity and stop: #include #include #include #include #include #include #define TIME$\_$STEP $64$ #define MAX$\_$SPEED $6\mathrm{.}28$ #define NUM$\_$LIGHT$\_$SENSORS $4//$ Number of light sensors used int main$($int argc, char $**$argv$)\{//$ Initialize the Webots API wb$\_$robot$\_$init$()$; $//$ Initialize motors WbDeviceTag left$\_$motor $=$ wb$\_$robot$\_$get$\_$device$("$left wheel motor"$)$; WbDeviceTag right$\_$motor $=$ wb$\_$robot$\_$get$\_$device$("$right wheel motor"$)$; $//$ Initialize light sensors WbDeviceTag light$\_$sensors$[$NUM$\_$LIGHT$\_$SENSORS$]$; char sensor$\_$name$[20]$; for $($int i $=0$; i $<$ NUM$\_$LIGHT$\_$SENSORS; i$++)\{$ sprintf$($sensor$\_$name, $"$ls$\%$d$",$ i$)$; $//$ Replace $"$ls$\%$d$"$ with the actual sensor names in your setup light$\_$sensors$[$i$]=$ wb$\_$robot$\_$get$\_$device$($sensor$\_$name$)$; wb$\_$light$\_$sensor$\_$enable$($light$\_$sensors$[$i$],$ TIME$\_$STEP$)$; $\}//$ Check if motors are correctly retrieved if $($left$\_$motor $==0||$ right$\_$motor $==0)\{$ printf$("$Error: Motors not found.

$")$; return $-1$; $\}//$ Set the motors to infinite position for continuous rotation wb$\_$motor$\_$set$\_$position$($left$\_$motor, INFINITY$)$; wb$\_$motor$\_$set$\_$position$($right$\_$motor, INFINITY$)$; $//$ Main loop while $($wb$\_$robot$\_$step$($TIME$\_$STEP$)!=-1)\{//$ Read light sensor values and find the maximum intensity double max$\_$light$\_$value $=0\mathrm{.}0$; int max$\_$light$\_$index $=-1$; for $($int i $=0$; i $<$ NUM$\_$LIGHT$\_$SENSORS; i$++)\{$ double light$\_$value $=$ wb$\_$light$\_$sensor$\_$get$\_$value$($light$\_$sensors$[$i$])$; printf$("$Light Sensor $\%$d Value: $\%$f

$",$ i$,$ light$\_$value$)$; if $($light$\_$value $>$ max$\_$light$\_$value$)\{$ max$\_$light$\_$value $=$ light$\_$value; max$\_$light$\_$index $=$ i; $\}\}$ printf$("$Max Light Intensity: $\%$f at Sensor $\%$d

$",$ max$\_$light$\_$value, max$\_$light$\_$index$)$; $//$ Set default speeds double left$\_$speed $=$ MAX$\_$SPEED; double right$\_$speed $=$ MAX$\_$SPEED; $//$ Basic behavior based on max light sensor location if $($max$\_$light$\_$index $==0)\{$ left$\_$speed $=$ MAX$\_$SPEED $/2$; right$\_$speed $=$ MAX$\_$SPEED; $\}$ else if $($max$\_$light$\_$index $==1)\{$ left$\_$speed $=$ MAX$\_$SPEED; right$\_$speed $=$ MAX$\_$SPEED $/2$; $\}$ else if $($max$\_$light$\_$index $==2)\{$ left$\_$speed $=$ MAX$\_$SPEED; right$\_$speed $=-$MAX$\_$SPEED $/2$; $\}$ else if $($max$\_$light$\_$index $==3)\{$ left$\_$speed $=-$MAX$\_$SPEED $/2$; right$\_$speed $=$ MAX$\_$SPEED; $\}//$ Set motor velocities wb$\_$motor$\_$set$\_$velocity$($left$\_$motor, left$\_$speed$)$; wb$\_$motor$\_$set$\_$velocity$($right$\_$motor, right$\_$speed$)$; $\}//$ Cleanup Webots resources wb$\_$robot$\_$cleanup$()$; return $0$; $\}$