Q$1$: Consider a controller for a robot $($as shown below$)$ as an embedded computer system.

$($a$)$ Simulation

$($b$)$ Actual motion

$1$

A$.$ What are the inputs?

B$.$ What are the outputs?

C$.$ Describe how you can control the robot arm.

D$.$ Describe a useful feature which could you add in software without requiring additional hardware.

E$.$ Describe a useful feature which could you add in software if the robot can be controlled by apps on mobile phones.