You are using a rotary encoder to determine the distance a robot has traveled. the rotary encoder is directly connected to one of the wheels that has a diameter of 10cm. assume the encoder has 16 lines/revolution and that both the rising and falling edges (2x mode) are detected. what is the smallest detectable change of the rover traveling distance? if you want the rover to travel 2 meters before making a turn, how many encoder counts (rise and fall) are needed before sending a turn command? if you want to upgrade the encoder so that the smallest detectable distance change is ±0.20cm, what would be the required lines/revolution?