You are developing an easycpro program for a robot with two motors and four sensors (two bumper switches and two limit switches) to perform the following tasks: the robot should continue moving until it hits an obstacle. upon hitting an obstacle (any one of the sensors is activated), it should stop, pause, backup, pause, turn and continue. a) explain what is happening in the code outlined by the red box. b) fill in the missing code where indicated. #include "main. h"void main (void){int limit1; int limit2; int bumper1; int bumper2; while (1==1){limit1 = getdigitalinput (5); limit2 = getdigitalinput (6); san josé state universitye10 introduction to engineeringpage 4 of 4bumper1 = getdigitalinput (7); bumper2 = getdigitalinput (8); if(limit1==1 & & limit2==1 & & bumper1==1 & & bumper2==1){setpwm (1, 127); setpwm (2, -127); }else{fill in program here}