New CNL changed two main features compared to old CNL, namely, move_to and spin. The move_to function now contains a goal tolerance which in the old move_to we need to subtract the goal tolerance manually. As for the spin, It changes from inputting an absolute angle to a relative angle.
Two new functions are added to the CNL in order to apply the new spin function -- smaller(a, b) and rotation(rad, rad). The former serves the purpose of selecting the smaller variable in a and b, the latter rotate the robot with the input argument of radian(two input arguments have the same value).
One new process is added to the CNL-- spin_done, whose function is to check if the spin process if finished.
Number of input parameters changes, mostly cases it increases.
The mission Shutest1 is one robot goes a straight line with no obstacle.
-- (c) Fordham University Robotics and Computer Vision