I need a c$++$ code to make a robot do the following: Your robot will run a simple follower algorithm using a sonar

sensor to measure distance from an object. The robot will then translate that distance measurement to a behavior. The essential states used in this simple follower state machine are $$forward$,$backward$,$stop$,$ and

$$sensor out of range$.$ These states are triggered by the distance an object is from the sensor itself. If an object is close to

the sensor then the robot should enter into the $$backward$$ state. If an object is far from the sensor then the robot should

enter the $$forward$$ state$.$ In between these two extremes, the robot should not go forward or backward and should

$$stop$$ in place. The $$stop$$ behavior is also triggered when the sensor produces a measurement that is outside of the

expected range of values. Please explain each step of the code.