RWTH - Mindstorms NXT Toolbox version 2.04

    *  New Features:
          o New function NXT_MessageRead (bi-directional communication between NXC programs and MATLAB now supported and successfully tested)
          o New function CalibrateGyro
    * Improvements:
          o Full support for multiple HiTechnic Gyroscopic sensors (even on multiple NXTs), functions OpenGyro and GetGyro updated
          o Minor documentation updates
    * Bugfixes:
          o GetGyro now also checks for validity of sensor data (only applies to prior toolbox version when calling GetGyro straight after OpenGyro via USB on very fast computers)
          o Fixed a minor issue in NXT_StartProgram (corrected parameter check for maximum program name length)
    * Known bugs and limitations:
          o On Linux systems, working with multiple NXTs at a time via several Bluetooth connections can cause problems while opening the NXT handle.
          o The NXTmotor class requires MATLAB 2008a or better.
          o Although the NXTmotor class is designed to work together with the embedded NXC program MotorControl.rxe, a compatibility mode for direct commands is implemented (providing the same functionality as known from the classic motor commands).
          o The method NXC_MotorControl (also affecting NXTmotor's method SendToNXT) contains a forced waiting period of 75 ms both before and after sending the actual command, leading to a total pause of 150 ms when using this method. The time out period will probably be reduced or even removed in future versions.
          o Mixing methods from the NXTmotor class and classic motor commands (such as SetMotor, SendMotorSettings, etc.) can lead to warnings or other problems.
          o Automatic Bluetooth connection establishing works only on Linux and may have certain limitations or cause problems (especially when working with multiple NXTs).
          o System functions, especially I/O Map Module functions, do not work with USB-connections in Windows.
    * April 17th, 2009