|8||8||Since version 2.01, the RWTH - Mindstorms NXT toolbox for MATLAB comes with an NXC program called MotorControl. This program gets compiled (using the NXC/NBC compiler) to a binary RXE file which is transferred to the NXT brick. During execution of MATLAB programs, MotorControl keeps running on the NXT and is receiving commands. The NXC program then takes care of the motors and controls them precisely, while the MATLAB program can continue execution. The latest version is MotorControl 2.2 (comes with toolbox version 4.04).