RWTH - Mindstorms NXT Toolbox version 3.00 (beta)

    * New features:
          o Class NXTMotor (formerly known as NXTmotor) now has new property ActionAtTachoLimit (use instead of BrakeAtTachoLimit)
          o New function DirectMotorCommand (usage and syntax identical to passing all parameters at once to removed function SendMotorSettings)
          o New optional argument 'MotorControlFilename' for functions COM_OpenNXT and COM_OpenNXTEx, followed by a custom filename to override the default setting or an empty string to disable launching of the embedded program
    * Removed features:
          o Removed automatic Bluetooth connection establishment in COM_OpenNXT / COM_OpenNXTEx (only relevant for Linux)
          o Removed classic motor commands SendMotorSettings, GetMotorSettings, ResetMotorAngle, WaitForMotor, MotorRotateAbs
          o Moved classic motor commands to private folder (deprecated): SetMotor, GetMotor, SpeedRegulation, SyncToMotor, SetAngleLimit, SetTurnRatio, SetRampMode, SetMemoryCount, GetMemoryCount
          o Removed old class NXTmotor's property BrakeAtTachoLimit (use ActionAtTachoLimit now)
          o Removed old class NXTmotor's property TurnRatio
          o Removed optional argument 'check' from COM_OpenNXT and COM_OpenNXTEx (checking is implicitely done every time now) 
    * Improvements / Changes:
          o Former delays (up to 150ms) in NXC_MotorControl / NXC_ResetErrorCorrection / NXTmotor.SendToNXT have been drastically lowered (to around 25ms), waiting is dynamic now and only occurs if needed
          o Improved COM_ReadI2C (now detects if a digital sensor was not opened properly)
          o Return-structs of NXT_GetOutputState and NXT_GetInputValues now contain double datatypes in all fields (conversion from uint8 for certain fields is not necessary anymore)
          o Slightly improved warnings / error-checking in COM_OpenNXT and COM_OpenNXTEx
          o Renamend class NXTmotor to NXTMotor (for consistency reasons and to underline new interface)
          o Renamed embedded NXC program for motor control to MotorControl12.nxc (compiles to MotorControl12.rxe), current version 1.2 was not changed. Using LEGO MINDSTORMS NXT Firmware 1.26 or better is strongly recommended!
          o Minor documentation updates
    * Bugfixes:
          o Fixed instabilities in COM_OpenNXT / COM_OpenNXTEx on Linux (due to automatic Bluetooth connections) by removing this feature
    * Known bugs and limitations:
          o This release has beta status, so certain features might not be stable, documentation might be outdated in some places
          o New system requirements: MATLAB 7.7 (2008b)
          o The toolbox programs ToolboxTest and ToolboxBenchmark are not up to date yet and are hence not included in this release.
          o Mixing methods from the NXTMotor class and the function DirectMotorCommand can lead to warnings or other problems
          o System functions, especially I/O Map Module functions, do not work with USB-connections in Windows (they do work with Bluetooth on Windows, and with both USB and BT on Linux)
    * July 17th, 2009