Question 4 Design an Embedded System for a simple Derbot (Toy-Car) based on PIC16-MC, a breif description of the required system is illustrated as follow: the Derbot is consisting of three Wheels, one on front, and the two others are on the Left and the Right sides of the derbot associated with two DC-Motors (Left& Right Motors), each one of the derbot's wheels is of 10 Cm diameter and there are 4-Ultrasonic Sensors associated with the derbot, two UltraSonic Sensors are buil on front of the derbot and applied to discover obstacles by covering half-Circle of 2-m radius to the front of the derbot. While, the other two UltraSonic Sensors are built on back of the derbot and applied to discover obstacles by covering half-Circle of 2-m radius to the back side of the derbot. Moreover, you may need to add some interfacing elements, like switches, Leds...etc. The desired Derbot system requested to have two modes of operations: The First mode Scenario is used to drive the derbot for 2-m distance forward, then stop and turn 90 to the right, continue move 2-m, then stop and turn 90 to the right, continue move 2-m, then stop and turn 90 to the right, continue move 2-m reaching its destination point and Stop. The Second Scenario is used to free-drive the derbot discovering obstacles, get descion based on the attatched ultrasonic sensors to turn (avoid) obstacles by turning to the right/left based on the side with no discovered obstacle, case if there are also obstacles on the right and left sides, it implement the two-back sensors to move backword either back right or back left and continue its move until it get whole bac obstacles or a 2 miniute back-move is waste in order to return to forward movement. The steps required to solve and design this derbot are as follow: 1. Sketch the general layout for this System? 2. Explain the detailed hardware for each unit required in this System? 3. Draw a flowchart to demonstrate the operation of such a system for the two described scenarios above? 4. Write the Complete assembly or MicroC program based on the sketched flow diagram. Note that your programming should include the use of interrupts, timers and CCP Modules of the Microcontroller. Question 4 Design an Embedded System for a simple Derbot (Toy-Car) based on PIC16-MC, a breif description of the required system is illustrated as follow: the Derbot is consisting of three Wheels, one on front, and the two others are on the Left and the Right sides of the derbot associated with two DC-Motors (Left& Right Motors), each one of the derbot's wheels is of 10 Cm diameter and there are 4-Ultrasonic Sensors associated with the derbot, two UltraSonic Sensors are buil on front of the derbot and applied to discover obstacles by covering half-Circle of 2-m radius to the front of the derbot. While, the other two UltraSonic Sensors are built on back of the derbot and applied to discover obstacles by covering half-Circle of 2-m radius to the back side of the derbot. Moreover, you may need to add some interfacing elements, like switches, Leds...etc. The desired Derbot system requested to have two modes of operations: The First mode Scenario is used to drive the derbot for 2-m distance forward, then stop and turn 90 to the right, continue move 2-m, then stop and turn 90 to the right, continue move 2-m, then stop and turn 90 to the right, continue move 2-m reaching its destination point and Stop. The Second Scenario is used to free-drive the derbot discovering obstacles, get descion based on the attatched ultrasonic sensors to turn (avoid) obstacles by turning to the right/left based on the side with no discovered obstacle, case if there are also obstacles on the right and left sides, it implement the two-back sensors to move backword either back right or back left and continue its move until it get whole bac obstacles or a 2 miniute back-move is waste in order to return to forward movement. The steps required to solve and design this derbot are as follow: 1. Sketch the general layout for this System? 2. Explain the detailed hardware for each unit required in this System? 3. Draw a flowchart to demonstrate the operation of such a system for the two described scenarios above? 4. Write the Complete assembly or MicroC program based on the sketched flow diagram. Note that your programming should include the use of interrupts, timers and CCP Modules of the Microcontroller