Write a program, sonar$\_$range$\_$finder.c$,$ compiled with GCC on the RPi $,$ that performs the following

steps:

a$.$

b$.$

c$.$

d$.$

e$.$

f$.$

g$.$

h$.$

i$.$

j$.$

k$.$

l$.$

m$.$

n$.$

o$.$

p$.$

q$.$

r$.$

Include the pigpio.h$,$ stdio.h$,$ and unistd.h files

Initializes the RPI GPIO by calling gpioInitialize$()$

Initializes the TRIGGER pin to be an output by calling gpioSetMode$()$

Initializes the ECHO pin to be an input by calling gpioSetMode$(),$ and gpioSetPullUpDown$(),$ Use

PI$\_$PUD$\_$OFF in the call to gpioSetPullIpDown$()$

Start a while$(1)$ loop.

Set Trig signal high $(1)$

Call sleep$(1)$ to delay for a second

Set Trig signal low $(0)$

Zero a count variable

Enter a while loop that waits until the Echo signal goes high. There is no code in the while loop

Call gpioTime to store the current time.

Enter another while loop that waits until the Echo signal goes low. The while loop contains code

that increments the count variable

Call gpioTime$()$ to capture the current time. The elapsed time is then calculated by subtracting

the time stored in step $($k$)$ from the time recorded in this step.

Print out the count value and the elapsed time $($calculated in step $($m$)).$

Calculate the distance using the elapsed time and the speed of sound. Note how the count of

executed instructions is roughly proportional to the elapsed time.

Print out the distance in cm and inches. $($As a check of your results, the desk is about $4$ feet or

$122$ cm in length. The distance from the desk to the floor is about $24$ inches.$)$

End the loop started in step e

Call gpioTerminate$().$ Note this function will never execute, because the infinite loop above will

only exit with a abort entered by the user.