Introduction: Let's say you want to write code for a robotic arm controller. The controller has one motor for each of the five fingers $($pinky $=$ finger $0...$thumb $=$ finger $4,$ in order$).$ The hardware will use a scheme known as memory$-$mapped I$/$O$,$ such that the hardware intercepts accesses to memory locations and interprets them as hardware device signals rather than RAM accesses $($and therefore don't correspond to reads or writes in memory, which are irrelevant here$).$ The API for the arm would, minimally, satisfy the following conditions...

$1.$ Write the integer $0$ to the memory location $0$xFFEE$5678,$ which would close all fingers completely. Every time this occurs, the program should wait for the $7$th of memory location $0$xFFEE$5678$ to become $1($aka 'setting' that bit$)$ before proceeding, as a way of indicating that the robot arm has initialized all motors and is now ready to receive instructions.

$2.$ Set bit number k $(0<=$ k $<=4)$ of memory location $0$xFFEE$567$C to open finger k by $0\mathrm{.}01$ radians.

$3.$ Set bit number k $+5(0<=$ k $<=4)$ of memory location $0$xFFEE$567$C to close finger k by $0\mathrm{.}01$ radians.

Successive openings of the same finger would be separated by $2$ milliseconds to avoid motor slippage.

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TASK PROMPT: Draw a CFG and write a program in MIPS assembly language which...

$1.$ Opens the index finger completely $(3\mathrm{.}14$ radians$).$

$2.$ Opens the thumb exactly halfway WHILE closing the index finger also exactly halfway. Should be done in an interspersed manner, aka the thumb will open by $0\mathrm{.}01$ radians, then the index finger will close by $0\mathrm{.}01$ radians, then the thumb will open by some amount, then the index finger will close by the same amount, etc.

$-$ Write 'delay n$\text{'}$ as an imaginary instruction to indicate a delay of n microseconds.

$-$ For the MIPS program, use only instructions add, sub, addi, sw$,$ lw$,$ and li$.$