There is a robot that can turn left and right using two binary sensors $($leftTurn and rightTurn$),$ and it has three infrared $($IR$)$ sensors labeled R$,$ L$,$ and center$\mathrm{.}1.$Design the following:$($a$)$ Write a control program to allow the robot to:Move forward for $2$ seconds if the center sensor is high $($readIR$).$Move backward for $2$ seconds if leftTurn is high $($turnLeft$).$Stop if rightTurn is high $($turnRight$)\mathrm{.}2.$Assume that the binary code of the infrared sensor is as follows:L $=1,$ center $=2,$ R $=3$Design a GRAFCET diagram to control the robots movements$\mathrm{.}3.$Write the corresponding VHDL code for the GRAFCET diagram designed in $($a$).$