From 9806548789711bf2b65725640289a2885c1fc967 Mon Sep 17 00:00:00 2001
From: Tim Stadtmann <tim.stadtmann@rwth-aachen.de>
Date: Sun, 30 Apr 2017 15:57:56 +0200
Subject: [PATCH] Update documentation of lower level classes

---
 docs/__pycache__/process.cpython-34.pyc  | Bin 0 -> 3989 bytes
 docs/_build/doctrees/EV3.doctree         | Bin 74882 -> 74885 bytes
 docs/_build/doctrees/Motor.doctree       | Bin 79194 -> 79139 bytes
 docs/_build/doctrees/asd.doctree         | Bin 0 -> 2036 bytes
 docs/_build/doctrees/btBrickIO.doctree   | Bin 0 -> 29868 bytes
 docs/_build/doctrees/environment.pickle  | Bin 21193 -> 28109 bytes
 docs/_build/doctrees/hid.doctree         | Bin 0 -> 59050 bytes
 docs/_build/doctrees/index.doctree       | Bin 8838 -> 8852 bytes
 docs/_build/doctrees/source.doctree      | Bin 74845 -> 74833 bytes
 docs/_build/doctrees/test.doctree        | Bin 0 -> 59051 bytes
 docs/_build/doctrees/usbBrickIO.doctree  | Bin 0 -> 25140 bytes
 docs/_build/html/CommandLayer.html       |  17 +-
 docs/_build/html/CommunicationLayer.html |  12 +-
 docs/_build/html/EV3.html                |   7 +-
 docs/_build/html/Motor.html              |   5 +-
 docs/_build/html/Sensor.html             |   9 +-
 docs/_build/html/_sources/asd.txt        |   0
 docs/_build/html/_sources/btBrickIO.txt  |  10 +
 docs/_build/html/_sources/hid.txt        |  10 +
 docs/_build/html/_sources/index.txt      |  11 +-
 docs/_build/html/_sources/test.txt       |  10 +
 docs/_build/html/_sources/usbBrickIO.txt |  10 +
 docs/_build/html/asd.html                | 151 ++++++++
 docs/_build/html/btBrickIO.html          | 279 ++++++++++++++
 docs/_build/html/examples.html           |   2 +
 docs/_build/html/genindex.html           | 266 +++++++++++++-
 docs/_build/html/hid.html                | 445 +++++++++++++++++++++++
 docs/_build/html/index.html              |  18 +-
 docs/_build/html/mat-modindex.html       |   7 +-
 docs/_build/html/objects.inv             | Bin 590 -> 900 bytes
 docs/_build/html/readme.html             |   2 +
 docs/_build/html/search.html             |   5 +-
 docs/_build/html/searchindex.js          |   2 +-
 docs/_build/html/source.html             |   7 +-
 docs/_build/html/test.html               | 445 +++++++++++++++++++++++
 docs/_build/html/usbBrickIO.html         | 266 ++++++++++++++
 docs/btBrickIO.rst                       |  10 +
 docs/hid.rst                             |  10 +
 docs/index.rst                           |  11 +-
 docs/process.py                          |   2 +-
 docs/usbBrickIO.rst                      |  10 +
 source/BrickIO.m                         |  41 ++-
 source/EV3.m                             |   2 +-
 source/btBrickIO.m                       | 187 +++++-----
 source/hidapi.m                          | 410 ++++++++-------------
 source/tb_optparse.m                     | 193 ----------
 source/usbBrickIO.m                      | 148 ++++----
 47 files changed, 2333 insertions(+), 687 deletions(-)
 create mode 100644 docs/__pycache__/process.cpython-34.pyc
 create mode 100644 docs/_build/doctrees/asd.doctree
 create mode 100644 docs/_build/doctrees/btBrickIO.doctree
 create mode 100644 docs/_build/doctrees/hid.doctree
 create mode 100644 docs/_build/doctrees/test.doctree
 create mode 100644 docs/_build/doctrees/usbBrickIO.doctree
 create mode 100644 docs/_build/html/_sources/asd.txt
 create mode 100644 docs/_build/html/_sources/btBrickIO.txt
 create mode 100644 docs/_build/html/_sources/hid.txt
 create mode 100644 docs/_build/html/_sources/test.txt
 create mode 100644 docs/_build/html/_sources/usbBrickIO.txt
 create mode 100644 docs/_build/html/asd.html
 create mode 100644 docs/_build/html/btBrickIO.html
 create mode 100644 docs/_build/html/hid.html
 create mode 100644 docs/_build/html/test.html
 create mode 100644 docs/_build/html/usbBrickIO.html
 create mode 100644 docs/btBrickIO.rst
 create mode 100644 docs/hid.rst
 create mode 100644 docs/usbBrickIO.rst
 delete mode 100755 source/tb_optparse.m

diff --git a/docs/__pycache__/process.cpython-34.pyc b/docs/__pycache__/process.cpython-34.pyc
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index 8a48fa465dce05674c054dd6d48c9b077a32c5c8..6b8e493c49b5b5e30c3e0dc44576b19e3dc5b875 100644
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HcmV?d00001

diff --git a/docs/_build/doctrees/index.doctree b/docs/_build/doctrees/index.doctree
index f8184d261e3623d707fdaf3f8a432b79760f9af6..71c3da6d49bc8b22ff1d549cbeb05bb425aa5b02 100644
GIT binary patch
delta 1592
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Zh?Ric%m#{_l;WaNu+lO{28PlkJph=&)A;}Z

delta 1587
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diff --git a/docs/_build/doctrees/source.doctree b/docs/_build/doctrees/source.doctree
index 394c9ec6b794d2351e4b5aae9af01b69ff1a133e..120fbe6336980b2a288beba0c012512468d8ef9f 100644
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diff --git a/docs/_build/html/CommandLayer.html b/docs/_build/html/CommandLayer.html
index bf7d3ed..b955feb 100644
--- a/docs/_build/html/CommandLayer.html
+++ b/docs/_build/html/CommandLayer.html
@@ -31,8 +31,6 @@
     <link rel="index" title="Index" href="genindex.html" />
     <link rel="search" title="Search" href="search.html" />
     <link rel="top" title="Mindstorms EV3 Toolbox v0.4-rc.10 documentation" href="index.html" />
-    <link rel="next" title="CommunicationLayer" href="CommunicationLayer.html" />
-    <link rel="prev" title="Sensor" href="Sensor.html" />
 <meta charset='utf-8'>
 <meta http-equiv='X-UA-Compatible' content='IE=edge,chrome=1'>
 <meta name='viewport' content='width=device-width, initial-scale=1.0, maximum-scale=1'>
@@ -76,9 +74,10 @@
 <li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
 <li class="toctree-l1"><a class="reference internal" href="Sensor.html">Sensor</a></li>
 </ul>
-<ul class="current">
-<li class="toctree-l1 current"><a class="current reference internal" href="#">CommandLayer</a></li>
-<li class="toctree-l1"><a class="reference internal" href="CommunicationLayer.html">CommunicationLayer</a></li>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="hid.html">hidapi</a></li>
+<li class="toctree-l1"><a class="reference internal" href="usbBrickIO.html">usbBrickIO</a></li>
+<li class="toctree-l1"><a class="reference internal" href="btBrickIO.html">btBrickIO</a></li>
 </ul>
 </ul>
 </li>
@@ -105,14 +104,6 @@
             
               
                 
-  <li>
-    <a href="Sensor.html" title="Previous Chapter: Sensor"><span class="glyphicon glyphicon-chevron-left visible-sm"></span><span class="hidden-sm hidden-tablet">&laquo; Sensor</span>
-    </a>
-  </li>
-  <li>
-    <a href="CommunicationLayer.html" title="Next Chapter: CommunicationLayer"><span class="glyphicon glyphicon-chevron-right visible-sm"></span><span class="hidden-sm hidden-tablet">Communication... &raquo;</span>
-    </a>
-  </li>
               
             
             
diff --git a/docs/_build/html/CommunicationLayer.html b/docs/_build/html/CommunicationLayer.html
index be22b64..72af737 100644
--- a/docs/_build/html/CommunicationLayer.html
+++ b/docs/_build/html/CommunicationLayer.html
@@ -31,7 +31,6 @@
     <link rel="index" title="Index" href="genindex.html" />
     <link rel="search" title="Search" href="search.html" />
     <link rel="top" title="Mindstorms EV3 Toolbox v0.4-rc.10 documentation" href="index.html" />
-    <link rel="prev" title="CommandLayer" href="CommandLayer.html" />
 <meta charset='utf-8'>
 <meta http-equiv='X-UA-Compatible' content='IE=edge,chrome=1'>
 <meta name='viewport' content='width=device-width, initial-scale=1.0, maximum-scale=1'>
@@ -75,9 +74,10 @@
 <li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
 <li class="toctree-l1"><a class="reference internal" href="Sensor.html">Sensor</a></li>
 </ul>
-<ul class="current">
-<li class="toctree-l1"><a class="reference internal" href="CommandLayer.html">CommandLayer</a></li>
-<li class="toctree-l1 current"><a class="current reference internal" href="#">CommunicationLayer</a></li>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="hid.html">hidapi</a></li>
+<li class="toctree-l1"><a class="reference internal" href="usbBrickIO.html">usbBrickIO</a></li>
+<li class="toctree-l1"><a class="reference internal" href="btBrickIO.html">btBrickIO</a></li>
 </ul>
 </ul>
 </li>
@@ -104,10 +104,6 @@
             
               
                 
-  <li>
-    <a href="CommandLayer.html" title="Previous Chapter: CommandLayer"><span class="glyphicon glyphicon-chevron-left visible-sm"></span><span class="hidden-sm hidden-tablet">&laquo; CommandLayer</span>
-    </a>
-  </li>
               
             
             
diff --git a/docs/_build/html/EV3.html b/docs/_build/html/EV3.html
index 7f30eca..6e2a34b 100644
--- a/docs/_build/html/EV3.html
+++ b/docs/_build/html/EV3.html
@@ -77,8 +77,9 @@
 <li class="toctree-l1"><a class="reference internal" href="Sensor.html">Sensor</a></li>
 </ul>
 <ul>
-<li class="toctree-l1"><a class="reference internal" href="CommandLayer.html">CommandLayer</a></li>
-<li class="toctree-l1"><a class="reference internal" href="CommunicationLayer.html">CommunicationLayer</a></li>
+<li class="toctree-l1"><a class="reference internal" href="hid.html">hidapi</a></li>
+<li class="toctree-l1"><a class="reference internal" href="usbBrickIO.html">usbBrickIO</a></li>
+<li class="toctree-l1"><a class="reference internal" href="btBrickIO.html">btBrickIO</a></li>
 </ul>
 </ul>
 </li>
@@ -315,7 +316,7 @@ b.disconnect(); % <br /></p>
 <tr class="field-odd field"><th class="field-name">Parameters:</th><td class="field-body"><ul class="first last simple">
 <li><strong>volume</strong> (<em>numeric in [0, 100]</em>) &#8211; in percent</li>
 <li><strong>frequency</strong> (<em>numeric in [250, 10000]</em>) &#8211; in Hertz</li>
-<li><strong>duration</strong> (<em>numeric &gt;0</em>) &#8211; in milliseconds</li>
+<li><strong>duration</strong> (<em>numeric &gt; 0</em>) &#8211; in milliseconds</li>
 </ul>
 </td>
 </tr>
diff --git a/docs/_build/html/Motor.html b/docs/_build/html/Motor.html
index 32b86f1..fef8e5c 100644
--- a/docs/_build/html/Motor.html
+++ b/docs/_build/html/Motor.html
@@ -77,8 +77,9 @@
 <li class="toctree-l1"><a class="reference internal" href="Sensor.html">Sensor</a></li>
 </ul>
 <ul>
-<li class="toctree-l1"><a class="reference internal" href="CommandLayer.html">CommandLayer</a></li>
-<li class="toctree-l1"><a class="reference internal" href="CommunicationLayer.html">CommunicationLayer</a></li>
+<li class="toctree-l1"><a class="reference internal" href="hid.html">hidapi</a></li>
+<li class="toctree-l1"><a class="reference internal" href="usbBrickIO.html">usbBrickIO</a></li>
+<li class="toctree-l1"><a class="reference internal" href="btBrickIO.html">btBrickIO</a></li>
 </ul>
 </ul>
 </li>
diff --git a/docs/_build/html/Sensor.html b/docs/_build/html/Sensor.html
index a22da31..0b01eea 100644
--- a/docs/_build/html/Sensor.html
+++ b/docs/_build/html/Sensor.html
@@ -31,7 +31,7 @@
     <link rel="index" title="Index" href="genindex.html" />
     <link rel="search" title="Search" href="search.html" />
     <link rel="top" title="Mindstorms EV3 Toolbox v0.4-rc.10 documentation" href="index.html" />
-    <link rel="next" title="CommandLayer" href="CommandLayer.html" />
+    <link rel="next" title="hidapi" href="hid.html" />
     <link rel="prev" title="Motor" href="Motor.html" />
 <meta charset='utf-8'>
 <meta http-equiv='X-UA-Compatible' content='IE=edge,chrome=1'>
@@ -77,8 +77,9 @@
 <li class="toctree-l1 current"><a class="current reference internal" href="#">Sensor</a></li>
 </ul>
 <ul>
-<li class="toctree-l1"><a class="reference internal" href="CommandLayer.html">CommandLayer</a></li>
-<li class="toctree-l1"><a class="reference internal" href="CommunicationLayer.html">CommunicationLayer</a></li>
+<li class="toctree-l1"><a class="reference internal" href="hid.html">hidapi</a></li>
+<li class="toctree-l1"><a class="reference internal" href="usbBrickIO.html">usbBrickIO</a></li>
+<li class="toctree-l1"><a class="reference internal" href="btBrickIO.html">btBrickIO</a></li>
 </ul>
 </ul>
 </li>
@@ -106,7 +107,7 @@
     </a>
   </li>
   <li>
-    <a href="CommandLayer.html" title="Next Chapter: CommandLayer"><span class="glyphicon glyphicon-chevron-right visible-sm"></span><span class="hidden-sm hidden-tablet">CommandLayer &raquo;</span>
+    <a href="hid.html" title="Next Chapter: hidapi"><span class="glyphicon glyphicon-chevron-right visible-sm"></span><span class="hidden-sm hidden-tablet">hidapi &raquo;</span>
     </a>
   </li>
               
diff --git a/docs/_build/html/_sources/asd.txt b/docs/_build/html/_sources/asd.txt
new file mode 100644
index 0000000..e69de29
diff --git a/docs/_build/html/_sources/btBrickIO.txt b/docs/_build/html/_sources/btBrickIO.txt
new file mode 100644
index 0000000..5e076d5
--- /dev/null
+++ b/docs/_build/html/_sources/btBrickIO.txt
@@ -0,0 +1,10 @@
+.. automodule:: source
+
+.. |br| raw:: html
+   
+   <br />
+btBrickIO
+=========
+
+.. autoclass:: btBrickIO
+   :members: open, close, read, write, setProperties
diff --git a/docs/_build/html/_sources/hid.txt b/docs/_build/html/_sources/hid.txt
new file mode 100644
index 0000000..a81e179
--- /dev/null
+++ b/docs/_build/html/_sources/hid.txt
@@ -0,0 +1,10 @@
+.. automodule:: source
+
+.. |br| raw:: html
+   
+   <br />
+hidapi
+======
+
+.. autoclass:: hidapi
+   :members: open, close, read, read_timeout, write, getHIDInfoString, setNonBlocking, init, exit, error, enumerate, getManufacturersString, getProductString, getSerialNumberString
diff --git a/docs/_build/html/_sources/index.txt b/docs/_build/html/_sources/index.txt
index a75f04a..157a890 100644
--- a/docs/_build/html/_sources/index.txt
+++ b/docs/_build/html/_sources/index.txt
@@ -45,8 +45,9 @@ Toolbox documentation
 Advanced
 
 .. toctree::
-   :maxdepth: 2
-
-   CommandLayer.rst
-   CommunicationLayer.rst
-
+   :maxdepth: 3
+   
+   hid
+   usbBrickIO
+   btBrickIO
+   
diff --git a/docs/_build/html/_sources/test.txt b/docs/_build/html/_sources/test.txt
new file mode 100644
index 0000000..a81e179
--- /dev/null
+++ b/docs/_build/html/_sources/test.txt
@@ -0,0 +1,10 @@
+.. automodule:: source
+
+.. |br| raw:: html
+   
+   <br />
+hidapi
+======
+
+.. autoclass:: hidapi
+   :members: open, close, read, read_timeout, write, getHIDInfoString, setNonBlocking, init, exit, error, enumerate, getManufacturersString, getProductString, getSerialNumberString
diff --git a/docs/_build/html/_sources/usbBrickIO.txt b/docs/_build/html/_sources/usbBrickIO.txt
new file mode 100644
index 0000000..785bdc9
--- /dev/null
+++ b/docs/_build/html/_sources/usbBrickIO.txt
@@ -0,0 +1,10 @@
+.. automodule:: source
+
+.. |br| raw:: html
+   
+   <br />
+usbBrickIO
+==========
+
+.. autoclass:: usbBrickIO
+   :members: open, close, read, write, setProperties
diff --git a/docs/_build/html/asd.html b/docs/_build/html/asd.html
new file mode 100644
index 0000000..d0a257d
--- /dev/null
+++ b/docs/_build/html/asd.html
@@ -0,0 +1,151 @@
+<!DOCTYPE html>
+
+
+<html xmlns="http://www.w3.org/1999/xhtml">
+  <head>
+    <meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
+    
+    <title>&lt;no title&gt; &#8212; Mindstorms EV3 Toolbox v0.4-rc.10 documentation</title>
+    
+    <link rel="stylesheet" href="_static/basic.css" type="text/css" />
+    <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
+    <link rel="stylesheet" href="_static/bootswatch-3.3.6/readable/bootstrap.min.css" type="text/css" />
+    <link rel="stylesheet" href="_static/bootstrap-sphinx.css" type="text/css" />
+    
+    <script type="text/javascript">
+      var DOCUMENTATION_OPTIONS = {
+        URL_ROOT:    './',
+        VERSION:     'v0.4-rc.10',
+        COLLAPSE_INDEX: false,
+        FILE_SUFFIX: '.html',
+        HAS_SOURCE:  true
+      };
+    </script>
+    <script type="text/javascript" src="_static/jquery.js"></script>
+    <script type="text/javascript" src="_static/underscore.js"></script>
+    <script type="text/javascript" src="_static/doctools.js"></script>
+    <script type="text/javascript" src="_static/js/jquery-1.11.0.min.js"></script>
+    <script type="text/javascript" src="_static/js/jquery-fix.js"></script>
+    <script type="text/javascript" src="_static/bootstrap-3.3.6/js/bootstrap.min.js"></script>
+    <script type="text/javascript" src="_static/bootstrap-sphinx.js"></script>
+    <link rel="index" title="Index" href="genindex.html" />
+    <link rel="search" title="Search" href="search.html" />
+    <link rel="top" title="Mindstorms EV3 Toolbox v0.4-rc.10 documentation" href="index.html" />
+<meta charset='utf-8'>
+<meta http-equiv='X-UA-Compatible' content='IE=edge,chrome=1'>
+<meta name='viewport' content='width=device-width, initial-scale=1.0, maximum-scale=1'>
+<meta name="apple-mobile-web-app-capable" content="yes">
+
+  </head>
+  <body role="document">
+
+  <div id="navbar" class="navbar navbar-default navbar-fixed-top">
+    <div class="container">
+      <div class="navbar-header">
+        <!-- .btn-navbar is used as the toggle for collapsed navbar content -->
+        <button type="button" class="navbar-toggle" data-toggle="collapse" data-target=".nav-collapse">
+          <span class="icon-bar"></span>
+          <span class="icon-bar"></span>
+          <span class="icon-bar"></span>
+        </button>
+        <a class="navbar-brand" href="index.html">
+          Mindstorms EV3 Toolbox</a>
+        <span class="navbar-text navbar-version pull-left"><b>v0.4</b></span>
+      </div>
+
+        <div class="collapse navbar-collapse nav-collapse">
+          <ul class="nav navbar-nav">
+            
+            
+              <li class="dropdown globaltoc-container">
+  <a role="button"
+     id="dLabelGlobalToc"
+     data-toggle="dropdown"
+     data-target="#"
+     href="index.html">Site <b class="caret"></b></a>
+  <ul class="dropdown-menu globaltoc"
+      role="menu"
+      aria-labelledby="dLabelGlobalToc"><ul>
+<li class="toctree-l1"><a class="reference internal" href="readme.html">General</a></li>
+<li class="toctree-l1"><a class="reference internal" href="examples.html">Examples</a></li>
+</ul>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="EV3.html">EV3</a></li>
+<li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
+<li class="toctree-l1"><a class="reference internal" href="Sensor.html">Sensor</a></li>
+</ul>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="usbBrickIO.html">usbBrickIO</a></li>
+<li class="toctree-l1"><a class="reference internal" href="btBrickIO.html">btBrickIO</a></li>
+</ul>
+</ul>
+</li>
+              
+                <li class="dropdown">
+  <a role="button"
+     id="dLabelLocalToc"
+     data-toggle="dropdown"
+     data-target="#"
+     href="#">Page <b class="caret"></b></a>
+  <ul class="dropdown-menu localtoc"
+      role="menu"
+      aria-labelledby="dLabelLocalToc"><ul class="simple">
+</ul>
+</ul>
+</li>
+              
+            
+            
+              
+                
+              
+            
+            
+            
+            
+              <li class="hidden-sm">
+<div id="sourcelink">
+  <a href="_sources/asd.txt"
+     rel="nofollow">Source</a>
+</div></li>
+            
+          </ul>
+
+          
+            
+<form class="navbar-form navbar-right" action="search.html" method="get">
+ <div class="form-group">
+  <input type="text" name="q" class="form-control" placeholder="Search" />
+ </div>
+  <input type="hidden" name="check_keywords" value="yes" />
+  <input type="hidden" name="area" value="default" />
+</form>
+          
+        </div>
+    </div>
+  </div>
+
+<div class="container">
+  <div class="row">
+    <div class="col-md-12 content">
+      
+  
+
+    </div>
+      
+  </div>
+</div>
+<footer class="footer">
+  <div class="container">
+    <p class="pull-right">
+      <a href="#">Back to top</a>
+      
+    </p>
+    <p>
+        &copy; Copyright 2016, LfB - RWTH Aachen.<br/>
+      Created using <a href="http://sphinx-doc.org/">Sphinx</a> 1.4.8.<br/>
+    </p>
+  </div>
+</footer>
+  </body>
+</html>
\ No newline at end of file
diff --git a/docs/_build/html/btBrickIO.html b/docs/_build/html/btBrickIO.html
new file mode 100644
index 0000000..d0f4292
--- /dev/null
+++ b/docs/_build/html/btBrickIO.html
@@ -0,0 +1,279 @@
+<!DOCTYPE html>
+
+
+<html xmlns="http://www.w3.org/1999/xhtml">
+  <head>
+    <meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
+    
+    <title>btBrickIO &#8212; Mindstorms EV3 Toolbox v0.4-rc.10 documentation</title>
+    
+    <link rel="stylesheet" href="_static/basic.css" type="text/css" />
+    <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
+    <link rel="stylesheet" href="_static/bootswatch-3.3.6/readable/bootstrap.min.css" type="text/css" />
+    <link rel="stylesheet" href="_static/bootstrap-sphinx.css" type="text/css" />
+    
+    <script type="text/javascript">
+      var DOCUMENTATION_OPTIONS = {
+        URL_ROOT:    './',
+        VERSION:     'v0.4-rc.10',
+        COLLAPSE_INDEX: false,
+        FILE_SUFFIX: '.html',
+        HAS_SOURCE:  true
+      };
+    </script>
+    <script type="text/javascript" src="_static/jquery.js"></script>
+    <script type="text/javascript" src="_static/underscore.js"></script>
+    <script type="text/javascript" src="_static/doctools.js"></script>
+    <script type="text/javascript" src="_static/js/jquery-1.11.0.min.js"></script>
+    <script type="text/javascript" src="_static/js/jquery-fix.js"></script>
+    <script type="text/javascript" src="_static/bootstrap-3.3.6/js/bootstrap.min.js"></script>
+    <script type="text/javascript" src="_static/bootstrap-sphinx.js"></script>
+    <link rel="index" title="Index" href="genindex.html" />
+    <link rel="search" title="Search" href="search.html" />
+    <link rel="top" title="Mindstorms EV3 Toolbox v0.4-rc.10 documentation" href="index.html" />
+    <link rel="prev" title="usbBrickIO" href="usbBrickIO.html" />
+<meta charset='utf-8'>
+<meta http-equiv='X-UA-Compatible' content='IE=edge,chrome=1'>
+<meta name='viewport' content='width=device-width, initial-scale=1.0, maximum-scale=1'>
+<meta name="apple-mobile-web-app-capable" content="yes">
+
+  </head>
+  <body role="document">
+
+  <div id="navbar" class="navbar navbar-default navbar-fixed-top">
+    <div class="container">
+      <div class="navbar-header">
+        <!-- .btn-navbar is used as the toggle for collapsed navbar content -->
+        <button type="button" class="navbar-toggle" data-toggle="collapse" data-target=".nav-collapse">
+          <span class="icon-bar"></span>
+          <span class="icon-bar"></span>
+          <span class="icon-bar"></span>
+        </button>
+        <a class="navbar-brand" href="index.html">
+          Mindstorms EV3 Toolbox</a>
+        <span class="navbar-text navbar-version pull-left"><b>v0.4</b></span>
+      </div>
+
+        <div class="collapse navbar-collapse nav-collapse">
+          <ul class="nav navbar-nav">
+            
+            
+              <li class="dropdown globaltoc-container">
+  <a role="button"
+     id="dLabelGlobalToc"
+     data-toggle="dropdown"
+     data-target="#"
+     href="index.html">Site <b class="caret"></b></a>
+  <ul class="dropdown-menu globaltoc"
+      role="menu"
+      aria-labelledby="dLabelGlobalToc"><ul>
+<li class="toctree-l1"><a class="reference internal" href="readme.html">General</a></li>
+<li class="toctree-l1"><a class="reference internal" href="examples.html">Examples</a></li>
+</ul>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="EV3.html">EV3</a></li>
+<li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
+<li class="toctree-l1"><a class="reference internal" href="Sensor.html">Sensor</a></li>
+</ul>
+<ul class="current">
+<li class="toctree-l1"><a class="reference internal" href="hid.html">hidapi</a></li>
+<li class="toctree-l1"><a class="reference internal" href="usbBrickIO.html">usbBrickIO</a></li>
+<li class="toctree-l1 current"><a class="current reference internal" href="#">btBrickIO</a></li>
+</ul>
+</ul>
+</li>
+              
+                <li class="dropdown">
+  <a role="button"
+     id="dLabelLocalToc"
+     data-toggle="dropdown"
+     data-target="#"
+     href="#">Page <b class="caret"></b></a>
+  <ul class="dropdown-menu localtoc"
+      role="menu"
+      aria-labelledby="dLabelLocalToc"><ul>
+<li><a class="reference internal" href="#">btBrickIO</a></li>
+</ul>
+</ul>
+</li>
+              
+            
+            
+              
+                
+  <li>
+    <a href="usbBrickIO.html" title="Previous Chapter: usbBrickIO"><span class="glyphicon glyphicon-chevron-left visible-sm"></span><span class="hidden-sm hidden-tablet">&laquo; usbBrickIO</span>
+    </a>
+  </li>
+              
+            
+            
+            
+            
+              <li class="hidden-sm">
+<div id="sourcelink">
+  <a href="_sources/btBrickIO.txt"
+     rel="nofollow">Source</a>
+</div></li>
+            
+          </ul>
+
+          
+            
+<form class="navbar-form navbar-right" action="search.html" method="get">
+ <div class="form-group">
+  <input type="text" name="q" class="form-control" placeholder="Search" />
+ </div>
+  <input type="hidden" name="check_keywords" value="yes" />
+  <input type="hidden" name="area" value="default" />
+</form>
+          
+        </div>
+    </div>
+  </div>
+
+<div class="container">
+  <div class="row">
+    <div class="col-md-12 content">
+      
+  <span class="target" id="module-source"></span><div class="section" id="btbrickio">
+<h1>btBrickIO<a class="headerlink" href="#btbrickio" title="Permalink to this headline">¶</a></h1>
+<dl class="class">
+<dt id="source.btBrickIO">
+<em class="property">class </em><code class="descname">btBrickIO</code><span class="sig-paren">(</span><em>varargin</em><span class="sig-paren">)</span><a class="headerlink" href="#source.btBrickIO" title="Permalink to this definition">¶</a></dt>
+<dd><p>Bluetooth interface between MATLAB and the brick</p>
+<p class="rubric">Notes</p>
+<ul>
+<li><p class="first">Connects to the bluetooth module on the host through a serial
+connection. Hence be sure that a serial connection to the bluetooth
+module can be made. Also be sure that the bluetooth module has been paired
+to the brick before trying to connect.</p>
+</li>
+<li><dl class="first docutils">
+<dt>Usage is OS-dependent:</dt>
+<dd><ul class="first last simple">
+<li>Windows: the deviceName- &amp; channel-properties are needed for connection. The implementation is based on the Instrument Control toolbox.</li>
+<li>Linux (and potentially Mac): serialPort-property is needed for connection. The implementation is based on MATLAB's serial port implementation.</li>
+</ul>
+</dd>
+</dl>
+</li>
+<li><p class="first">For general information, see also <code class="xref mat mat-class docutils literal"><span class="pre">BrickIO</span></code>.</p>
+</li>
+</ul>
+<dl class="attribute">
+<dt id="source.btBrickIO.debug">
+<code class="descname">debug</code><a class="headerlink" href="#source.btBrickIO.debug" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>bool</em> &#8211; If true, each open/close/read/write-call will be shown in the console.
+Defaults to false.</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.btBrickIO.serialPort">
+<code class="descname">serialPort</code><a class="headerlink" href="#source.btBrickIO.serialPort" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>string</em> &#8211; Path to the serial-port object. Only needed when using MATLAB's
+serial class (i.e. on linux/mac). Defaults to '/dev/rfcomm0'.</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.btBrickIO.deviceName">
+<code class="descname">deviceName</code><a class="headerlink" href="#source.btBrickIO.deviceName" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>string</em> &#8211; Name of the BT-device = the brick. Only needed when using the
+Instrument Control toolbox (i.e. on windows). Defaults to 'EV3'.</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.btBrickIO.channel">
+<code class="descname">channel</code><a class="headerlink" href="#source.btBrickIO.channel" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric &gt; 0</em> &#8211; BT-channel of the connected BT-device. Only needed when using
+the Instrument Control toolbox (i.e. on windows). Defaults to 1.</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.btBrickIO.timeOut">
+<code class="descname">timeOut</code><a class="headerlink" href="#source.btBrickIO.timeOut" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric &gt;= 0</em> &#8211; seconds after which a timeout-error occurs if no packet could be
+read. Defaults to 10.</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.btBrickIO.backend">
+<code class="descname">backend</code><a class="headerlink" href="#source.btBrickIO.backend" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>'serial'|'instrumentControl'</em> &#8211; Backend this implementation is based on. Is
+automatically chosen depending on the OS. Defaults to 'serial' on linux/mac
+systems, and to 'instrumentControl' on windows systems.</p>
+</dd></dl>
+
+<p class="rubric">Examples</p>
+<p>% Connecting on windows <br />
+commHandle = btBrickIO('deviceName', 'MyEV3', 'channel', 1); % <br />
+% Connecting on windows using MATLABs default serial port implementation for testing <br />
+commHandle = btBrickIO('deviceName', 'MyEV3', 'channel', 1, 'backend', 'serial'); % <br />
+% Connecting on mac/linux <br />
+commHandle = btBrickIO('serPort', '/dev/rfcomm0'); % <br /></p>
+<dl class="method">
+<dt id="source.btBrickIO.close">
+<code class="descname">close</code><span class="sig-paren">(</span><em>brickIO</em><span class="sig-paren">)</span><a class="headerlink" href="#source.btBrickIO.close" title="Permalink to this definition">¶</a></dt>
+<dd><p>Closes the bluetooth connection the brick using fclose.</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.btBrickIO.open">
+<code class="descname">open</code><span class="sig-paren">(</span><em>brickIO</em><span class="sig-paren">)</span><a class="headerlink" href="#source.btBrickIO.open" title="Permalink to this definition">¶</a></dt>
+<dd><p>Opens the bluetooth connection to the brick using fopen.</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.btBrickIO.read">
+<code class="descname">read</code><span class="sig-paren">(</span><em>brickIO</em><span class="sig-paren">)</span><a class="headerlink" href="#source.btBrickIO.read" title="Permalink to this definition">¶</a></dt>
+<dd><p>Reads data from the brick through bluetooth via fread and returns the data in uint8 format.</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.btBrickIO.setProperties">
+<code class="descname">setProperties</code><span class="sig-paren">(</span><em>brickIO</em>, <em>varargin</em><span class="sig-paren">)</span><a class="headerlink" href="#source.btBrickIO.setProperties" title="Permalink to this definition">¶</a></dt>
+<dd><p>Sets multiple btBrickIO properties at once using MATLAB's inputParser.</p>
+<p>The syntax is as follows: commHandle.setProperties('propertyName1',
+propertyValue1, 'propertyName2', propertyValue2, ...). Valid, optional properties
+are: debug, serPort, deviceName, channel, timeout.</p>
+<p>See also BTBRICKIO.DEBUG, BTBRICKIO.SERIALPORT, BTBRICKIO.DEVICENAME,
+BTBRICKIO.CHANNEL, BTBRICKIO.TIMEOUT</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.btBrickIO.write">
+<code class="descname">write</code><span class="sig-paren">(</span><em>brickIO</em>, <em>wmsg</em><span class="sig-paren">)</span><a class="headerlink" href="#source.btBrickIO.write" title="Permalink to this definition">¶</a></dt>
+<dd><p>Writes data to the brick through bluetooth via fwrite.</p>
+<table class="docutils field-list" frame="void" rules="none">
+<col class="field-name" />
+<col class="field-body" />
+<tbody valign="top">
+<tr class="field-odd field"><th class="field-name">Parameters:</th><td class="field-body"><strong>wmsg</strong> (<em>uint8 array</em>) &#8211; Data to be written to the brick via bluetooth</td>
+</tr>
+</tbody>
+</table>
+</dd></dl>
+
+</dd></dl>
+
+</div>
+
+
+    </div>
+      
+  </div>
+</div>
+<footer class="footer">
+  <div class="container">
+    <p class="pull-right">
+      <a href="#">Back to top</a>
+      
+    </p>
+    <p>
+        &copy; Copyright 2016, LfB - RWTH Aachen.<br/>
+      Created using <a href="http://sphinx-doc.org/">Sphinx</a> 1.4.8.<br/>
+    </p>
+  </div>
+</footer>
+  </body>
+</html>
\ No newline at end of file
diff --git a/docs/_build/html/examples.html b/docs/_build/html/examples.html
index b123824..e3923d5 100644
--- a/docs/_build/html/examples.html
+++ b/docs/_build/html/examples.html
@@ -79,6 +79,8 @@
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="CommandLayer.html">CommandLayer</a></li>
 <li class="toctree-l1"><a class="reference internal" href="CommunicationLayer.html">CommunicationLayer</a></li>
+<li class="toctree-l1"><a class="reference internal" href="usbBrickIO.html">usbBrickIO</a></li>
+<li class="toctree-l1"><a class="reference internal" href="btBrickIO.html">btBrickIO</a></li>
 </ul>
 </ul>
 </li>
diff --git a/docs/_build/html/genindex.html b/docs/_build/html/genindex.html
index f905277..823964d 100644
--- a/docs/_build/html/genindex.html
+++ b/docs/_build/html/genindex.html
@@ -76,8 +76,9 @@
 <li class="toctree-l1"><a class="reference internal" href="Sensor.html">Sensor</a></li>
 </ul>
 <ul>
-<li class="toctree-l1"><a class="reference internal" href="CommandLayer.html">CommandLayer</a></li>
-<li class="toctree-l1"><a class="reference internal" href="CommunicationLayer.html">CommunicationLayer</a></li>
+<li class="toctree-l1"><a class="reference internal" href="hid.html">hidapi</a></li>
+<li class="toctree-l1"><a class="reference internal" href="usbBrickIO.html">usbBrickIO</a></li>
+<li class="toctree-l1"><a class="reference internal" href="btBrickIO.html">btBrickIO</a></li>
 </ul>
 </ul>
 </li>
@@ -132,13 +133,18 @@
  | <a href="#C"><strong>C</strong></a>
  | <a href="#D"><strong>D</strong></a>
  | <a href="#E"><strong>E</strong></a>
+ | <a href="#G"><strong>G</strong></a>
+ | <a href="#H"><strong>H</strong></a>
  | <a href="#I"><strong>I</strong></a>
  | <a href="#L"><strong>L</strong></a>
  | <a href="#M"><strong>M</strong></a>
+ | <a href="#N"><strong>N</strong></a>
+ | <a href="#O"><strong>O</strong></a>
  | <a href="#P"><strong>P</strong></a>
  | <a href="#R"><strong>R</strong></a>
  | <a href="#S"><strong>S</strong></a>
  | <a href="#T"><strong>T</strong></a>
+ | <a href="#U"><strong>U</strong></a>
  | <a href="#V"><strong>V</strong></a>
  | <a href="#W"><strong>W</strong></a>
  
@@ -147,6 +153,10 @@
 <table style="width: 100%" class="indextable genindextable"><tr>
   <td style="width: 33%" valign="top"><dl>
       
+  <dt><a href="btBrickIO.html#source.btBrickIO.backend">backend (source.btBrickIO attribute)</a>
+  </dt>
+
+      
   <dt><a href="EV3.html#source.EV3.batteryMode">batteryMode (source.EV3 attribute)</a>, <a href="source.html#source.EV3.batteryMode">[1]</a>
   </dt>
 
@@ -164,6 +174,10 @@
   <dt><a href="Motor.html#source.Motor.brakeMode">brakeMode (source.Motor attribute)</a>
   </dt>
 
+      
+  <dt><a href="btBrickIO.html#source.btBrickIO">btBrickIO (class in source)</a>
+  </dt>
+
   </dl></td>
 </tr></table>
 
@@ -171,12 +185,30 @@
 <table style="width: 100%" class="indextable genindextable"><tr>
   <td style="width: 33%" valign="top"><dl>
       
-  <dt><a href="EV3.html#source.EV3.connect">connect() (source.EV3 method)</a>, <a href="source.html#source.EV3.connect">[1]</a>
+  <dt><a href="btBrickIO.html#source.btBrickIO.channel">channel (source.btBrickIO attribute)</a>
   </dt>
 
+      
+  <dt><a href="btBrickIO.html#source.btBrickIO.close">close() (source.btBrickIO method)</a>
+  </dt>
+
+      <dd><dl>
+        
+  <dt><a href="hid.html#source.hidapi.close">(source.hidapi method)</a>
+  </dt>
+
+        
+  <dt><a href="usbBrickIO.html#source.usbBrickIO.close">(source.usbBrickIO method)</a>
+  </dt>
+
+      </dl></dd>
   </dl></td>
   <td style="width: 33%" valign="top"><dl>
       
+  <dt><a href="EV3.html#source.EV3.connect">connect() (source.EV3 method)</a>, <a href="source.html#source.EV3.connect">[1]</a>
+  </dt>
+
+      
   <dt><a href="Motor.html#source.Motor.currentSpeed">currentSpeed (source.Motor attribute)</a>
   </dt>
 
@@ -187,11 +219,15 @@
 <table style="width: 100%" class="indextable genindextable"><tr>
   <td style="width: 33%" valign="top"><dl>
       
-  <dt><a href="EV3.html#source.EV3.debug">debug (source.EV3 attribute)</a>, <a href="source.html#source.EV3.debug">[1]</a>
+  <dt><a href="btBrickIO.html#source.btBrickIO.debug">debug (source.btBrickIO attribute)</a>
   </dt>
 
       <dd><dl>
         
+  <dt><a href="EV3.html#source.EV3.debug">(source.EV3 attribute)</a>, <a href="source.html#source.EV3.debug">[1]</a>
+  </dt>
+
+        
   <dt><a href="Motor.html#source.Motor.debug">(source.Motor attribute)</a>
   </dt>
 
@@ -199,10 +235,18 @@
   <dt><a href="Sensor.html#source.Sensor.debug">(source.Sensor attribute)</a>
   </dt>
 
+        
+  <dt><a href="usbBrickIO.html#source.usbBrickIO.debug">(source.usbBrickIO attribute)</a>
+  </dt>
+
       </dl></dd>
   </dl></td>
   <td style="width: 33%" valign="top"><dl>
       
+  <dt><a href="btBrickIO.html#source.btBrickIO.deviceName">deviceName (source.btBrickIO attribute)</a>
+  </dt>
+
+      
   <dt><a href="EV3.html#source.EV3.disconnect">disconnect() (source.EV3 method)</a>, <a href="source.html#source.EV3.disconnect">[1]</a>
   </dt>
 
@@ -213,9 +257,63 @@
 <table style="width: 100%" class="indextable genindextable"><tr>
   <td style="width: 33%" valign="top"><dl>
       
+  <dt><a href="hid.html#source.hidapi.enumerate">enumerate() (source.hidapi method)</a>
+  </dt>
+
+      
+  <dt><a href="hid.html#source.hidapi.error">error() (source.hidapi method)</a>
+  </dt>
+
+  </dl></td>
+  <td style="width: 33%" valign="top"><dl>
+      
   <dt><a href="EV3.html#source.EV3">EV3 (class in source)</a>, <a href="source.html#source.EV3">[1]</a>
   </dt>
 
+      
+  <dt><a href="hid.html#source.hidapi.exit">exit() (source.hidapi method)</a>
+  </dt>
+
+  </dl></td>
+</tr></table>
+
+<h2 id="G">G</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%" valign="top"><dl>
+      
+  <dt><a href="hid.html#source.hidapi.getHIDInfoString">getHIDInfoString() (source.hidapi method)</a>
+  </dt>
+
+      
+  <dt><a href="hid.html#source.hidapi.getManufacturersString">getManufacturersString() (source.hidapi method)</a>
+  </dt>
+
+  </dl></td>
+  <td style="width: 33%" valign="top"><dl>
+      
+  <dt><a href="hid.html#source.hidapi.getProductString">getProductString() (source.hidapi method)</a>
+  </dt>
+
+      
+  <dt><a href="hid.html#source.hidapi.getSerialNumberString">getSerialNumberString() (source.hidapi method)</a>
+  </dt>
+
+  </dl></td>
+</tr></table>
+
+<h2 id="H">H</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%" valign="top"><dl>
+      
+  <dt><a href="hid.html#source.hidapi.handle">handle (source.hidapi attribute)</a>
+  </dt>
+
+  </dl></td>
+  <td style="width: 33%" valign="top"><dl>
+      
+  <dt><a href="hid.html#source.hidapi">hidapi (class in source)</a>
+  </dt>
+
   </dl></td>
 </tr></table>
 
@@ -223,6 +321,10 @@
 <table style="width: 100%" class="indextable genindextable"><tr>
   <td style="width: 33%" valign="top"><dl>
       
+  <dt><a href="hid.html#source.hidapi.init">init() (source.hidapi method)</a>
+  </dt>
+
+      
   <dt><a href="Motor.html#source.Motor.internalReset">internalReset() (source.Motor method)</a>
   </dt>
 
@@ -287,6 +389,54 @@
   </dl></td>
 </tr></table>
 
+<h2 id="N">N</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%" valign="top"><dl>
+      
+  <dt><a href="hid.html#source.hidapi.nReadBuffer">nReadBuffer (source.hidapi attribute)</a>
+  </dt>
+
+      <dd><dl>
+        
+  <dt><a href="usbBrickIO.html#source.usbBrickIO.nReadBuffer">(source.usbBrickIO attribute)</a>
+  </dt>
+
+      </dl></dd>
+  </dl></td>
+  <td style="width: 33%" valign="top"><dl>
+      
+  <dt><a href="hid.html#source.hidapi.nWriteBuffer">nWriteBuffer (source.hidapi attribute)</a>
+  </dt>
+
+      <dd><dl>
+        
+  <dt><a href="usbBrickIO.html#source.usbBrickIO.nWriteBuffer">(source.usbBrickIO attribute)</a>
+  </dt>
+
+      </dl></dd>
+  </dl></td>
+</tr></table>
+
+<h2 id="O">O</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%" valign="top"><dl>
+      
+  <dt><a href="btBrickIO.html#source.btBrickIO.open">open() (source.btBrickIO method)</a>
+  </dt>
+
+      <dd><dl>
+        
+  <dt><a href="hid.html#source.hidapi.open">(source.hidapi method)</a>
+  </dt>
+
+        
+  <dt><a href="usbBrickIO.html#source.usbBrickIO.open">(source.usbBrickIO method)</a>
+  </dt>
+
+      </dl></dd>
+  </dl></td>
+</tr></table>
+
 <h2 id="P">P</h2>
 <table style="width: 100%" class="indextable genindextable"><tr>
   <td style="width: 33%" valign="top"><dl>
@@ -294,12 +444,22 @@
   <dt><a href="EV3.html#source.EV3.playTone">playTone() (source.EV3 method)</a>, <a href="source.html#source.EV3.playTone">[1]</a>
   </dt>
 
+      
+  <dt><a href="Motor.html#source.Motor.power">power (source.Motor attribute)</a>
+  </dt>
+
   </dl></td>
   <td style="width: 33%" valign="top"><dl>
       
-  <dt><a href="Motor.html#source.Motor.power">power (source.Motor attribute)</a>
+  <dt><a href="hid.html#source.hidapi.productID">productID (source.hidapi attribute)</a>
+  </dt>
+
+      <dd><dl>
+        
+  <dt><a href="usbBrickIO.html#source.usbBrickIO.productID">(source.usbBrickIO attribute)</a>
   </dt>
 
+      </dl></dd>
   </dl></td>
 </tr></table>
 
@@ -307,12 +467,30 @@
 <table style="width: 100%" class="indextable genindextable"><tr>
   <td style="width: 33%" valign="top"><dl>
       
-  <dt><a href="Sensor.html#source.Sensor.reset">reset() (source.Sensor method)</a>
+  <dt><a href="btBrickIO.html#source.btBrickIO.read">read() (source.btBrickIO method)</a>
   </dt>
 
+      <dd><dl>
+        
+  <dt><a href="hid.html#source.hidapi.read">(source.hidapi method)</a>
+  </dt>
+
+        
+  <dt><a href="usbBrickIO.html#source.usbBrickIO.read">(source.usbBrickIO method)</a>
+  </dt>
+
+      </dl></dd>
   </dl></td>
   <td style="width: 33%" valign="top"><dl>
       
+  <dt><a href="hid.html#source.hidapi.read_timeout">read_timeout() (source.hidapi method)</a>
+  </dt>
+
+      
+  <dt><a href="Sensor.html#source.Sensor.reset">reset() (source.Sensor method)</a>
+  </dt>
+
+      
   <dt><a href="Motor.html#source.Motor.resetTachoCount">resetTachoCount() (source.Motor method)</a>
   </dt>
 
@@ -343,15 +521,27 @@
   </dt>
 
       
+  <dt><a href="btBrickIO.html#source.btBrickIO.serialPort">serialPort (source.btBrickIO attribute)</a>
+  </dt>
+
+      
   <dt><a href="Motor.html#source.Motor.setBrake">setBrake() (source.Motor method)</a>
   </dt>
 
       
-  <dt><a href="EV3.html#source.EV3.setProperties">setProperties() (source.EV3 method)</a>, <a href="source.html#source.EV3.setProperties">[1]</a>
+  <dt><a href="hid.html#source.hidapi.setNonBlocking">setNonBlocking() (source.hidapi method)</a>
+  </dt>
+
+      
+  <dt><a href="btBrickIO.html#source.btBrickIO.setProperties">setProperties() (source.btBrickIO method)</a>
   </dt>
 
       <dd><dl>
         
+  <dt><a href="EV3.html#source.EV3.setProperties">(source.EV3 method)</a>, <a href="source.html#source.EV3.setProperties">[1]</a>
+  </dt>
+
+        
   <dt><a href="Motor.html#source.Motor.setProperties">(source.Motor method)</a>
   </dt>
 
@@ -359,10 +549,22 @@
   <dt><a href="Sensor.html#source.Sensor.setProperties">(source.Sensor method)</a>
   </dt>
 
+        
+  <dt><a href="usbBrickIO.html#source.usbBrickIO.setProperties">(source.usbBrickIO method)</a>
+  </dt>
+
       </dl></dd>
   </dl></td>
   <td style="width: 33%" valign="top"><dl>
       
+  <dt><a href="hid.html#source.hidapi.sheader">sheader (source.hidapi attribute)</a>
+  </dt>
+
+      
+  <dt><a href="hid.html#source.hidapi.slib">slib (source.hidapi attribute)</a>
+  </dt>
+
+      
   <dt><a href="Motor.html#source.Motor.smoothStart">smoothStart (source.Motor attribute)</a>
   </dt>
 
@@ -371,7 +573,7 @@
   </dt>
 
       
-  <dt><a href="CommandLayer.html#module-source">source (module)</a>, <a href="CommunicationLayer.html#module-source">[1]</a>, <a href="EV3.html#module-source">[2]</a>, <a href="Motor.html#module-source">[3]</a>, <a href="Sensor.html#module-source">[4]</a>, <a href="source.html#module-source">[5]</a>
+  <dt><a href="CommandLayer.html#module-source">source (module)</a>, <a href="CommunicationLayer.html#module-source">[1]</a>, <a href="EV3.html#module-source">[2]</a>, <a href="Motor.html#module-source">[3]</a>, <a href="Sensor.html#module-source">[4]</a>, <a href="btBrickIO.html#module-source">[5]</a>, <a href="hid.html#module-source">[6]</a>, <a href="source.html#module-source">[7]</a>, <a href="usbBrickIO.html#module-source">[8]</a>
   </dt>
 
       
@@ -413,12 +615,22 @@
   </dt>
 
       
-  <dt><a href="EV3.html#source.EV3.tonePlayed">tonePlayed() (source.EV3 method)</a>, <a href="source.html#source.EV3.tonePlayed">[1]</a>
+  <dt><a href="btBrickIO.html#source.btBrickIO.timeOut">timeOut (source.btBrickIO attribute)</a>
   </dt>
 
+      <dd><dl>
+        
+  <dt><a href="usbBrickIO.html#source.usbBrickIO.timeOut">(source.usbBrickIO attribute)</a>
+  </dt>
+
+      </dl></dd>
   </dl></td>
   <td style="width: 33%" valign="top"><dl>
       
+  <dt><a href="EV3.html#source.EV3.tonePlayed">tonePlayed() (source.EV3 method)</a>, <a href="source.html#source.EV3.tonePlayed">[1]</a>
+  </dt>
+
+      
   <dt><a href="Motor.html#source.Motor.type">type (source.Motor attribute)</a>
   </dt>
 
@@ -431,6 +643,16 @@
   </dl></td>
 </tr></table>
 
+<h2 id="U">U</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%" valign="top"><dl>
+      
+  <dt><a href="usbBrickIO.html#source.usbBrickIO">usbBrickIO (class in source)</a>
+  </dt>
+
+  </dl></td>
+</tr></table>
+
 <h2 id="V">V</h2>
 <table style="width: 100%" class="indextable genindextable"><tr>
   <td style="width: 33%" valign="top"><dl>
@@ -439,6 +661,18 @@
   </dt>
 
   </dl></td>
+  <td style="width: 33%" valign="top"><dl>
+      
+  <dt><a href="hid.html#source.hidapi.vendorID">vendorID (source.hidapi attribute)</a>
+  </dt>
+
+      <dd><dl>
+        
+  <dt><a href="usbBrickIO.html#source.usbBrickIO.vendorID">(source.usbBrickIO attribute)</a>
+  </dt>
+
+      </dl></dd>
+  </dl></td>
 </tr></table>
 
 <h2 id="W">W</h2>
@@ -448,6 +682,20 @@
   <dt><a href="Motor.html#source.Motor.waitFor">waitFor() (source.Motor method)</a>
   </dt>
 
+      
+  <dt><a href="btBrickIO.html#source.btBrickIO.write">write() (source.btBrickIO method)</a>
+  </dt>
+
+      <dd><dl>
+        
+  <dt><a href="hid.html#source.hidapi.write">(source.hidapi method)</a>
+  </dt>
+
+        
+  <dt><a href="usbBrickIO.html#source.usbBrickIO.write">(source.usbBrickIO method)</a>
+  </dt>
+
+      </dl></dd>
   </dl></td>
 </tr></table>
 
diff --git a/docs/_build/html/hid.html b/docs/_build/html/hid.html
new file mode 100644
index 0000000..702479f
--- /dev/null
+++ b/docs/_build/html/hid.html
@@ -0,0 +1,445 @@
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+
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+    <meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
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+      
+  <span class="target" id="module-source"></span><div class="section" id="hidapi">
+<h1>hidapi<a class="headerlink" href="#hidapi" title="Permalink to this headline">¶</a></h1>
+<dl class="class">
+<dt id="source.hidapi">
+<em class="property">class </em><code class="descclassname">source.</code><code class="descname">hidapi</code><span class="sig-paren">(</span><em>vendorID</em>, <em>productID</em>, <em>nReadBuffer</em>, <em>nWriteBuffer</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi" title="Permalink to this definition">¶</a></dt>
+<dd><p>Interface to the hidapi library</p>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>Developed from the hidapi available at <a class="reference external" href="http://www.signal11.us/oss/hidapi/">http://www.signal11.us/oss/hidapi/</a>.</li>
+<li>Windows: hidapi.dll needed.</li>
+<li>Mac: hidapi.dylib needed. In addition, Xcode has to be installed.</li>
+<li>Linux: hidapi has to be compiled on host-system.</li>
+</ul>
+<dl class="attribute">
+<dt id="source.hidapi.handle">
+<code class="descname">handle</code><a class="headerlink" href="#source.hidapi.handle" title="Permalink to this definition">¶</a></dt>
+<dd></dd></dl>
+
+<dl class="attribute">
+<dt id="source.hidapi.vendorID">
+<code class="descname">vendorID</code><a class="headerlink" href="#source.hidapi.vendorID" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric</em> &#8211; Vendor-ID of the USB device.</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.hidapi.productID">
+<code class="descname">productID</code><a class="headerlink" href="#source.hidapi.productID" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric</em> &#8211; Product-ID of the USB device.</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.hidapi.nReadBuffer">
+<code class="descname">nReadBuffer</code><a class="headerlink" href="#source.hidapi.nReadBuffer" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric</em> &#8211; Read-buffer size in bytes.</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.hidapi.nWriteBuffer">
+<code class="descname">nWriteBuffer</code><a class="headerlink" href="#source.hidapi.nWriteBuffer" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric</em> &#8211; Write-buffer size in bytes. Needs to be 1 Byte bigger than
+actual packet.</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.hidapi.slib">
+<code class="descname">slib</code><a class="headerlink" href="#source.hidapi.slib" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>string</em> &#8211; Name of shared library file (without file extension). Defaults to
+&#8216;hidapi&#8217;.</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.hidapi.sheader">
+<code class="descname">sheader</code><a class="headerlink" href="#source.hidapi.sheader" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>string</em> &#8211; Name of shared library header. Defaults to &#8216;hidapi.h&#8217;.</p>
+</dd></dl>
+
+<p class="rubric">Example</p>
+<p>hidHandle = hidapi(1684,0005,1024,1025); %|br|</p>
+<dl class="method">
+<dt id="source.hidapi.close">
+<code class="descname">close</code><span class="sig-paren">(</span><em>hid</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.close" title="Permalink to this definition">¶</a></dt>
+<dd><p>Close the connection to a hid device.</p>
+<dl class="docutils">
+<dt>Throws:</dt>
+<dd>InvalidHandle: Handle to USB-device not valid</dd>
+</dl>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>Gets called automatically when deleting the hidapi instance.</li>
+</ul>
+<ol class="upperroman simple" start="2001">
+<li>Check if pointer is (unexpectedly) already invalidated</li>
+</ol>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.enumerate">
+<code class="descname">enumerate</code><span class="sig-paren">(</span><em>hid</em>, <em>vendorID</em>, <em>productID</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.enumerate" title="Permalink to this definition">¶</a></dt>
+<dd><p>Enumerates the info about the hid device with the given vendorID and productID
+and returns a string with the returned hid information.</p>
+<table class="docutils field-list" frame="void" rules="none">
+<col class="field-name" />
+<col class="field-body" />
+<tbody valign="top">
+<tr class="field-odd field"><th class="field-name">Parameters:</th><td class="field-body"><ul class="first last simple">
+<li><strong>vendorID</strong> (<em>numeric</em>) &#8211; Vendor-ID of the USB device in decimal.</li>
+<li><strong>productID</strong> (<em>numeric</em>) &#8211; Product-ID of the USB device in decimal.</li>
+</ul>
+</td>
+</tr>
+</tbody>
+</table>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>Using a vendorID and productID of (0,0) will enumerate all connected hid
+devices.</li>
+<li>MATLAB does not have the hid_device_infoPtr struct so some of the returned
+information will need to be resized and cast into uint8 or chars.</li>
+</ul>
+<p>Enumerate the hid devices</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.error">
+<code class="descname">error</code><span class="sig-paren">(</span><em>hid</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.error" title="Permalink to this definition">¶</a></dt>
+<dd><p>Return the hid device error string if a function produced an error.</p>
+<dl class="docutils">
+<dt>Throws:</dt>
+<dd>InvalidHandle: Handle to USB-device not valid</dd>
+</dl>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>This function must be called explicitly if you think an error was generated
+from the hid device.</li>
+</ul>
+<ol class="upperroman simple" start="2001">
+<li>Check if pointer is (unexpectedly) already invalidated</li>
+</ol>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.exit">
+<code class="descname">exit</code><span class="sig-paren">(</span><em>hid</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.exit" title="Permalink to this definition">¶</a></dt>
+<dd><p>hidapi.exit Exit hidapi</p>
+<p>hid.exit() exits the hidapi library.</p>
+<dl class="docutils">
+<dt>Throws:</dt>
+<dd>CommError: Error during communication with device</dd>
+</dl>
+<p>Notes::
+- You should not have to call this function directly.</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.getHIDInfoString">
+<code class="descname">getHIDInfoString</code><span class="sig-paren">(</span><em>hid</em>, <em>info</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.getHIDInfoString" title="Permalink to this definition">¶</a></dt>
+<dd><p>Get the corresponding hid info from the hid device.</p>
+<dl class="docutils">
+<dt>Throws:</dt>
+<dd>CommError: Error during communication with device
+InvalidHandle: Handle to USB-device not valid</dd>
+</dl>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>Info is the hid information string.</li>
+</ul>
+<p>See also HIDAPI.GETMANUFACTURERSSTRING, HIDAPI.GETPRODUCTSTRING,
+HIDAPI.GETSERIALNUMBERSTRING.</p>
+<p>Read buffer nReadBuffer length</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.getManufacturersString">
+<code class="descname">getManufacturersString</code><span class="sig-paren">(</span><em>hid</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.getManufacturersString" title="Permalink to this definition">¶</a></dt>
+<dd><p>Get manufacturers string from hid object using getHIDInfoString.</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.getProductString">
+<code class="descname">getProductString</code><span class="sig-paren">(</span><em>hid</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.getProductString" title="Permalink to this definition">¶</a></dt>
+<dd><p>Get product string from hid object using getProductString.</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.getSerialNumberString">
+<code class="descname">getSerialNumberString</code><span class="sig-paren">(</span><em>hid</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.getSerialNumberString" title="Permalink to this definition">¶</a></dt>
+<dd><p>Get serial number from hid object using getSerialNumberString.</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.init">
+<code class="descname">init</code><span class="sig-paren">(</span><em>hid</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.init" title="Permalink to this definition">¶</a></dt>
+<dd><p>Inits the hidapi library.</p>
+<dl class="docutils">
+<dt>Throws:</dt>
+<dd>CommError: Error during communication with device</dd>
+</dl>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>This is called automatically in the library itself with the open function. You
+should not have to call this function directly.</li>
+</ul>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.open">
+<code class="descname">open</code><span class="sig-paren">(</span><em>hid</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.open" title="Permalink to this definition">¶</a></dt>
+<dd><p>Open a connection with a hid device</p>
+<dl class="docutils">
+<dt>Throws:</dt>
+<dd>CommError: Error during communication with device</dd>
+</dl>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>Gets called automatically when creating an hidapi-object.</li>
+<li>The pointer return value from this library call is always null so it is not
+possible to know if the open was successful.</li>
+<li>The final parameter to the open hidapi library call has different types
+depending on OS. On windows it is uint16, on linux/mac int32.</li>
+</ul>
+<p>Create a null pointer for the hid_open function (depends on OS)</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.read">
+<code class="descname">read</code><span class="sig-paren">(</span><em>hid</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.read" title="Permalink to this definition">¶</a></dt>
+<dd><p>Read from a hid device and returns the read bytes.</p>
+<dl class="docutils">
+<dt>Throws:</dt>
+<dd>CommError: Error during communication with device
+InvalidHandle: Handle to USB-device not valid</dd>
+</dl>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>Will print an error if no data was read.</li>
+</ul>
+<p>Read buffer of nReadBuffer length</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.read_timeout">
+<code class="descname">read_timeout</code><span class="sig-paren">(</span><em>hid</em>, <em>timeOut</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.read_timeout" title="Permalink to this definition">¶</a></dt>
+<dd><p>Read from a hid device with a timeout and return the read bytes.</p>
+<table class="docutils field-list" frame="void" rules="none">
+<col class="field-name" />
+<col class="field-body" />
+<tbody valign="top">
+<tr class="field-odd field"><th class="field-name">Parameters:</th><td class="field-body"><strong>timeOut</strong> (<em>numeric &gt;= 0</em>) &#8211; Milliseconds after which a timeout-error occurs if no
+packet could be read.</td>
+</tr>
+</tbody>
+</table>
+<dl class="docutils">
+<dt>Throws:</dt>
+<dd>CommError: Error during communication with device
+InvalidHandle: Handle to USB-device not valid</dd>
+</dl>
+<p>Read buffer of nReadBuffer length</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.setNonBlocking">
+<code class="descname">setNonBlocking</code><span class="sig-paren">(</span><em>hid</em>, <em>nonblock</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.setNonBlocking" title="Permalink to this definition">¶</a></dt>
+<dd><p>Set the non blocking flag on the hid device connection.</p>
+<table class="docutils field-list" frame="void" rules="none">
+<col class="field-name" />
+<col class="field-body" />
+<tbody valign="top">
+<tr class="field-odd field"><th class="field-name">Parameters:</th><td class="field-body"><strong>nonblock</strong> (<em>numeric in {0,1}</em>) &#8211; 0 disables nonblocking, 1 enables nonblocking</td>
+</tr>
+</tbody>
+</table>
+<dl class="docutils">
+<dt>Throws:</dt>
+<dd>CommError: Error during communication with device
+InvalidHandle: Handle to USB-device not valid</dd>
+</dl>
+<ol class="upperroman simple" start="2001">
+<li>Check if pointer is (unexpectedly) already invalidated</li>
+</ol>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.write">
+<code class="descname">write</code><span class="sig-paren">(</span><em>hid</em>, <em>wmsg</em>, <em>reportID</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.write" title="Permalink to this definition">¶</a></dt>
+<dd><p>Write to a hid device.</p>
+<dl class="docutils">
+<dt>Throws:</dt>
+<dd>CommError: Error during communication with device
+InvalidHandle: Handle to USB-device not valid</dd>
+</dl>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>Will print an error if there is a mismatch between the buffer size and the
+reported number of bytes written.</li>
+</ul>
+<p>Append a 0 at the front for HID report ID</p>
+</dd></dl>
+
+</dd></dl>
+
+</div>
+
+
+    </div>
+      
+  </div>
+</div>
+<footer class="footer">
+  <div class="container">
+    <p class="pull-right">
+      <a href="#">Back to top</a>
+      
+    </p>
+    <p>
+        &copy; Copyright 2016, LfB - RWTH Aachen.<br/>
+      Created using <a href="http://sphinx-doc.org/">Sphinx</a> 1.4.8.<br/>
+    </p>
+  </div>
+</footer>
+  </body>
+</html>
\ No newline at end of file
diff --git a/docs/_build/html/index.html b/docs/_build/html/index.html
index 392a1f7..4051180 100644
--- a/docs/_build/html/index.html
+++ b/docs/_build/html/index.html
@@ -76,8 +76,9 @@
 <li class="toctree-l1"><a class="reference internal" href="Sensor.html">Sensor</a></li>
 </ul>
 <ul>
-<li class="toctree-l1"><a class="reference internal" href="CommandLayer.html">CommandLayer</a></li>
-<li class="toctree-l1"><a class="reference internal" href="CommunicationLayer.html">CommunicationLayer</a></li>
+<li class="toctree-l1"><a class="reference internal" href="hid.html">hidapi</a></li>
+<li class="toctree-l1"><a class="reference internal" href="usbBrickIO.html">usbBrickIO</a></li>
+<li class="toctree-l1"><a class="reference internal" href="btBrickIO.html">btBrickIO</a></li>
 </ul>
 </ul>
 </li>
@@ -176,16 +177,9 @@ these are the classes you will mostly use.</p>
 <p>Advanced</p>
 <div class="toctree-wrapper compound">
 <ul>
-<li class="toctree-l1"><a class="reference internal" href="CommandLayer.html">CommandLayer</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="CommandLayer.html#command">Command</a></li>
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index b38672d..d739141 100644
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+<li class="toctree-l1"><a class="reference internal" href="usbBrickIO.html">usbBrickIO</a></li>
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diff --git a/docs/_build/html/readme.html b/docs/_build/html/readme.html
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diff --git a/docs/_build/html/search.html b/docs/_build/html/search.html
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+<li class="toctree-l1"><a class="reference internal" href="hid.html">hidapi</a></li>
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\ No newline at end of file
diff --git a/docs/_build/html/source.html b/docs/_build/html/source.html
index 2a43839..b165c7d 100644
--- a/docs/_build/html/source.html
+++ b/docs/_build/html/source.html
@@ -75,8 +75,9 @@
 <li class="toctree-l1"><a class="reference internal" href="Sensor.html">Sensor</a></li>
 </ul>
 <ul>
-<li class="toctree-l1"><a class="reference internal" href="CommandLayer.html">CommandLayer</a></li>
-<li class="toctree-l1"><a class="reference internal" href="CommunicationLayer.html">CommunicationLayer</a></li>
+<li class="toctree-l1"><a class="reference internal" href="hid.html">hidapi</a></li>
+<li class="toctree-l1"><a class="reference internal" href="usbBrickIO.html">usbBrickIO</a></li>
+<li class="toctree-l1"><a class="reference internal" href="btBrickIO.html">btBrickIO</a></li>
 </ul>
 </ul>
 </li>
@@ -305,7 +306,7 @@ b.disconnect(); % <br /></p>
 <tr class="field-odd field"><th class="field-name">Parameters:</th><td class="field-body"><ul class="first last simple">
 <li><strong>volume</strong> (<em>numeric in [0, 100]</em>) &#8211; in percent</li>
 <li><strong>frequency</strong> (<em>numeric in [250, 10000]</em>) &#8211; in Hertz</li>
-<li><strong>duration</strong> (<em>numeric &gt;0</em>) &#8211; in milliseconds</li>
+<li><strong>duration</strong> (<em>numeric &gt; 0</em>) &#8211; in milliseconds</li>
 </ul>
 </td>
 </tr>
diff --git a/docs/_build/html/test.html b/docs/_build/html/test.html
new file mode 100644
index 0000000..50e55fb
--- /dev/null
+++ b/docs/_build/html/test.html
@@ -0,0 +1,445 @@
+<!DOCTYPE html>
+
+
+<html xmlns="http://www.w3.org/1999/xhtml">
+  <head>
+    <meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
+    
+    <title>hidapi &#8212; Mindstorms EV3 Toolbox v0.4-rc.10 documentation</title>
+    
+    <link rel="stylesheet" href="_static/basic.css" type="text/css" />
+    <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
+    <link rel="stylesheet" href="_static/bootswatch-3.3.6/readable/bootstrap.min.css" type="text/css" />
+    <link rel="stylesheet" href="_static/bootstrap-sphinx.css" type="text/css" />
+    
+    <script type="text/javascript">
+      var DOCUMENTATION_OPTIONS = {
+        URL_ROOT:    './',
+        VERSION:     'v0.4-rc.10',
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+        FILE_SUFFIX: '.html',
+        HAS_SOURCE:  true
+      };
+    </script>
+    <script type="text/javascript" src="_static/jquery.js"></script>
+    <script type="text/javascript" src="_static/underscore.js"></script>
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+    <script type="text/javascript" src="_static/js/jquery-fix.js"></script>
+    <script type="text/javascript" src="_static/bootstrap-3.3.6/js/bootstrap.min.js"></script>
+    <script type="text/javascript" src="_static/bootstrap-sphinx.js"></script>
+    <link rel="index" title="Index" href="genindex.html" />
+    <link rel="search" title="Search" href="search.html" />
+    <link rel="top" title="Mindstorms EV3 Toolbox v0.4-rc.10 documentation" href="index.html" />
+    <link rel="next" title="usbBrickIO" href="usbBrickIO.html" />
+    <link rel="prev" title="Sensor" href="Sensor.html" />
+<meta charset='utf-8'>
+<meta http-equiv='X-UA-Compatible' content='IE=edge,chrome=1'>
+<meta name='viewport' content='width=device-width, initial-scale=1.0, maximum-scale=1'>
+<meta name="apple-mobile-web-app-capable" content="yes">
+
+  </head>
+  <body role="document">
+
+  <div id="navbar" class="navbar navbar-default navbar-fixed-top">
+    <div class="container">
+      <div class="navbar-header">
+        <!-- .btn-navbar is used as the toggle for collapsed navbar content -->
+        <button type="button" class="navbar-toggle" data-toggle="collapse" data-target=".nav-collapse">
+          <span class="icon-bar"></span>
+          <span class="icon-bar"></span>
+          <span class="icon-bar"></span>
+        </button>
+        <a class="navbar-brand" href="index.html">
+          Mindstorms EV3 Toolbox</a>
+        <span class="navbar-text navbar-version pull-left"><b>v0.4</b></span>
+      </div>
+
+        <div class="collapse navbar-collapse nav-collapse">
+          <ul class="nav navbar-nav">
+            
+            
+              <li class="dropdown globaltoc-container">
+  <a role="button"
+     id="dLabelGlobalToc"
+     data-toggle="dropdown"
+     data-target="#"
+     href="index.html">Site <b class="caret"></b></a>
+  <ul class="dropdown-menu globaltoc"
+      role="menu"
+      aria-labelledby="dLabelGlobalToc"><ul>
+<li class="toctree-l1"><a class="reference internal" href="readme.html">General</a></li>
+<li class="toctree-l1"><a class="reference internal" href="examples.html">Examples</a></li>
+</ul>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="EV3.html">EV3</a></li>
+<li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
+<li class="toctree-l1"><a class="reference internal" href="Sensor.html">Sensor</a></li>
+</ul>
+<ul class="current">
+<li class="toctree-l1 current"><a class="current reference internal" href="#">hidapi</a></li>
+<li class="toctree-l1"><a class="reference internal" href="usbBrickIO.html">usbBrickIO</a></li>
+<li class="toctree-l1"><a class="reference internal" href="btBrickIO.html">btBrickIO</a></li>
+</ul>
+</ul>
+</li>
+              
+                <li class="dropdown">
+  <a role="button"
+     id="dLabelLocalToc"
+     data-toggle="dropdown"
+     data-target="#"
+     href="#">Page <b class="caret"></b></a>
+  <ul class="dropdown-menu localtoc"
+      role="menu"
+      aria-labelledby="dLabelLocalToc"><ul>
+<li><a class="reference internal" href="#">hidapi</a></li>
+</ul>
+</ul>
+</li>
+              
+            
+            
+              
+                
+  <li>
+    <a href="Sensor.html" title="Previous Chapter: Sensor"><span class="glyphicon glyphicon-chevron-left visible-sm"></span><span class="hidden-sm hidden-tablet">&laquo; Sensor</span>
+    </a>
+  </li>
+  <li>
+    <a href="usbBrickIO.html" title="Next Chapter: usbBrickIO"><span class="glyphicon glyphicon-chevron-right visible-sm"></span><span class="hidden-sm hidden-tablet">usbBrickIO &raquo;</span>
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+  </li>
+              
+            
+            
+            
+            
+              <li class="hidden-sm">
+<div id="sourcelink">
+  <a href="_sources/test.txt"
+     rel="nofollow">Source</a>
+</div></li>
+            
+          </ul>
+
+          
+            
+<form class="navbar-form navbar-right" action="search.html" method="get">
+ <div class="form-group">
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+  <input type="hidden" name="area" value="default" />
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+<div class="container">
+  <div class="row">
+    <div class="col-md-12 content">
+      
+  <span class="target" id="module-source"></span><div class="section" id="hidapi">
+<h1>hidapi<a class="headerlink" href="#hidapi" title="Permalink to this headline">¶</a></h1>
+<dl class="class">
+<dt id="source.hidapi">
+<em class="property">class </em><code class="descclassname">source.</code><code class="descname">hidapi</code><span class="sig-paren">(</span><em>vendorID</em>, <em>productID</em>, <em>nReadBuffer</em>, <em>nWriteBuffer</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi" title="Permalink to this definition">¶</a></dt>
+<dd><p>Interface to the hidapi library</p>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>Developed from the hidapi available at <a class="reference external" href="http://www.signal11.us/oss/hidapi/">http://www.signal11.us/oss/hidapi/</a>.</li>
+<li>Windows: hidapi.dll needed.</li>
+<li>Mac: hidapi.dylib needed. In addition, Xcode has to be installed.</li>
+<li>Linux: hidapi has to be compiled on host-system.</li>
+</ul>
+<dl class="attribute">
+<dt id="source.hidapi.handle">
+<code class="descname">handle</code><a class="headerlink" href="#source.hidapi.handle" title="Permalink to this definition">¶</a></dt>
+<dd></dd></dl>
+
+<dl class="attribute">
+<dt id="source.hidapi.vendorID">
+<code class="descname">vendorID</code><a class="headerlink" href="#source.hidapi.vendorID" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric</em> &#8211; Vendor-ID of the USB device.</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.hidapi.productID">
+<code class="descname">productID</code><a class="headerlink" href="#source.hidapi.productID" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric</em> &#8211; Product-ID of the USB device.</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.hidapi.nReadBuffer">
+<code class="descname">nReadBuffer</code><a class="headerlink" href="#source.hidapi.nReadBuffer" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric</em> &#8211; Read-buffer size in bytes.</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.hidapi.nWriteBuffer">
+<code class="descname">nWriteBuffer</code><a class="headerlink" href="#source.hidapi.nWriteBuffer" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric</em> &#8211; Write-buffer size in bytes. Needs to be 1 Byte bigger than
+actual packet.</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.hidapi.slib">
+<code class="descname">slib</code><a class="headerlink" href="#source.hidapi.slib" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>string</em> &#8211; Name of shared library file (without file extension). Defaults to
+&#8216;hidapi&#8217;.</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.hidapi.sheader">
+<code class="descname">sheader</code><a class="headerlink" href="#source.hidapi.sheader" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>string</em> &#8211; Name of shared library header. Defaults to &#8216;hidapi.h&#8217;.</p>
+</dd></dl>
+
+<p class="rubric">Example</p>
+<p>hidHandle = hidapi(1684,0005,1024,1025); %|br|</p>
+<dl class="method">
+<dt id="source.hidapi.close">
+<code class="descname">close</code><span class="sig-paren">(</span><em>hid</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.close" title="Permalink to this definition">¶</a></dt>
+<dd><p>Close the connection to a hid device.</p>
+<dl class="docutils">
+<dt>Throws:</dt>
+<dd>InvalidHandle: Handle to USB-device not valid</dd>
+</dl>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>Gets called automatically when deleting the hidapi instance.</li>
+</ul>
+<ol class="upperroman simple" start="2001">
+<li>Check if pointer is (unexpectedly) already invalidated</li>
+</ol>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.enumerate">
+<code class="descname">enumerate</code><span class="sig-paren">(</span><em>hid</em>, <em>vendorID</em>, <em>productID</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.enumerate" title="Permalink to this definition">¶</a></dt>
+<dd><p>Enumerates the info about the hid device with the given vendorID and productID
+and returns a string with the returned hid information.</p>
+<table class="docutils field-list" frame="void" rules="none">
+<col class="field-name" />
+<col class="field-body" />
+<tbody valign="top">
+<tr class="field-odd field"><th class="field-name">Parameters:</th><td class="field-body"><ul class="first last simple">
+<li><strong>vendorID</strong> (<em>numeric</em>) &#8211; Vendor-ID of the USB device in decimal.</li>
+<li><strong>productID</strong> (<em>numeric</em>) &#8211; Product-ID of the USB device in decimal.</li>
+</ul>
+</td>
+</tr>
+</tbody>
+</table>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>Using a vendorID and productID of (0,0) will enumerate all connected hid
+devices.</li>
+<li>MATLAB does not have the hid_device_infoPtr struct so some of the returned
+information will need to be resized and cast into uint8 or chars.</li>
+</ul>
+<p>Enumerate the hid devices</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.error">
+<code class="descname">error</code><span class="sig-paren">(</span><em>hid</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.error" title="Permalink to this definition">¶</a></dt>
+<dd><p>Return the hid device error string if a function produced an error.</p>
+<dl class="docutils">
+<dt>Throws:</dt>
+<dd>InvalidHandle: Handle to USB-device not valid</dd>
+</dl>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>This function must be called explicitly if you think an error was generated
+from the hid device.</li>
+</ul>
+<ol class="upperroman simple" start="2001">
+<li>Check if pointer is (unexpectedly) already invalidated</li>
+</ol>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.exit">
+<code class="descname">exit</code><span class="sig-paren">(</span><em>hid</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.exit" title="Permalink to this definition">¶</a></dt>
+<dd><p>hidapi.exit Exit hidapi</p>
+<p>hid.exit() exits the hidapi library.</p>
+<dl class="docutils">
+<dt>Throws:</dt>
+<dd>CommError: Error during communication with device</dd>
+</dl>
+<p>Notes::
+- You should not have to call this function directly.</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.getHIDInfoString">
+<code class="descname">getHIDInfoString</code><span class="sig-paren">(</span><em>hid</em>, <em>info</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.getHIDInfoString" title="Permalink to this definition">¶</a></dt>
+<dd><p>Get the corresponding hid info from the hid device.</p>
+<dl class="docutils">
+<dt>Throws:</dt>
+<dd>CommError: Error during communication with device
+InvalidHandle: Handle to USB-device not valid</dd>
+</dl>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>Info is the hid information string.</li>
+</ul>
+<p>See also HIDAPI.GETMANUFACTURERSSTRING, HIDAPI.GETPRODUCTSTRING,
+HIDAPI.GETSERIALNUMBERSTRING.</p>
+<p>Read buffer nReadBuffer length</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.getManufacturersString">
+<code class="descname">getManufacturersString</code><span class="sig-paren">(</span><em>hid</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.getManufacturersString" title="Permalink to this definition">¶</a></dt>
+<dd><p>Get manufacturers string from hid object using getHIDInfoString.</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.getProductString">
+<code class="descname">getProductString</code><span class="sig-paren">(</span><em>hid</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.getProductString" title="Permalink to this definition">¶</a></dt>
+<dd><p>Get product string from hid object using getProductString.</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.getSerialNumberString">
+<code class="descname">getSerialNumberString</code><span class="sig-paren">(</span><em>hid</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.getSerialNumberString" title="Permalink to this definition">¶</a></dt>
+<dd><p>Get serial number from hid object using getSerialNumberString.</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.init">
+<code class="descname">init</code><span class="sig-paren">(</span><em>hid</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.init" title="Permalink to this definition">¶</a></dt>
+<dd><p>Inits the hidapi library.</p>
+<dl class="docutils">
+<dt>Throws:</dt>
+<dd>CommError: Error during communication with device</dd>
+</dl>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>This is called automatically in the library itself with the open function. You
+should not have to call this function directly.</li>
+</ul>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.open">
+<code class="descname">open</code><span class="sig-paren">(</span><em>hid</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.open" title="Permalink to this definition">¶</a></dt>
+<dd><p>Open a connection with a hid device</p>
+<dl class="docutils">
+<dt>Throws:</dt>
+<dd>CommError: Error during communication with device</dd>
+</dl>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>Gets called automatically when creating an hidapi-object.</li>
+<li>The pointer return value from this library call is always null so it is not
+possible to know if the open was successful.</li>
+<li>The final parameter to the open hidapi library call has different types
+depending on OS. On windows it is uint16, on linux/mac int32.</li>
+</ul>
+<p>Create a null pointer for the hid_open function (depends on OS)</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.read">
+<code class="descname">read</code><span class="sig-paren">(</span><em>hid</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.read" title="Permalink to this definition">¶</a></dt>
+<dd><p>Read from a hid device and returns the read bytes.</p>
+<dl class="docutils">
+<dt>Throws:</dt>
+<dd>CommError: Error during communication with device
+InvalidHandle: Handle to USB-device not valid</dd>
+</dl>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>Will print an error if no data was read.</li>
+</ul>
+<p>Read buffer of nReadBuffer length</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.read_timeout">
+<code class="descname">read_timeout</code><span class="sig-paren">(</span><em>hid</em>, <em>timeOut</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.read_timeout" title="Permalink to this definition">¶</a></dt>
+<dd><p>Read from a hid device with a timeout and return the read bytes.</p>
+<table class="docutils field-list" frame="void" rules="none">
+<col class="field-name" />
+<col class="field-body" />
+<tbody valign="top">
+<tr class="field-odd field"><th class="field-name">Parameters:</th><td class="field-body"><strong>timeOut</strong> (<em>numeric &gt;= 0</em>) &#8211; Milliseconds after which a timeout-error occurs if no
+packet could be read.</td>
+</tr>
+</tbody>
+</table>
+<dl class="docutils">
+<dt>Throws:</dt>
+<dd>CommError: Error during communication with device
+InvalidHandle: Handle to USB-device not valid</dd>
+</dl>
+<p>Read buffer of nReadBuffer length</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.setNonBlocking">
+<code class="descname">setNonBlocking</code><span class="sig-paren">(</span><em>hid</em>, <em>nonblock</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.setNonBlocking" title="Permalink to this definition">¶</a></dt>
+<dd><p>Set the non blocking flag on the hid device connection.</p>
+<table class="docutils field-list" frame="void" rules="none">
+<col class="field-name" />
+<col class="field-body" />
+<tbody valign="top">
+<tr class="field-odd field"><th class="field-name">Parameters:</th><td class="field-body"><strong>nonblock</strong> (<em>numeric in {0,1}</em>) &#8211; 0 disables nonblocking, 1 enables nonblocking</td>
+</tr>
+</tbody>
+</table>
+<dl class="docutils">
+<dt>Throws:</dt>
+<dd>CommError: Error during communication with device
+InvalidHandle: Handle to USB-device not valid</dd>
+</dl>
+<ol class="upperroman simple" start="2001">
+<li>Check if pointer is (unexpectedly) already invalidated</li>
+</ol>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.write">
+<code class="descname">write</code><span class="sig-paren">(</span><em>hid</em>, <em>wmsg</em>, <em>reportID</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.write" title="Permalink to this definition">¶</a></dt>
+<dd><p>Write to a hid device.</p>
+<dl class="docutils">
+<dt>Throws:</dt>
+<dd>CommError: Error during communication with device
+InvalidHandle: Handle to USB-device not valid</dd>
+</dl>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>Will print an error if there is a mismatch between the buffer size and the
+reported number of bytes written.</li>
+</ul>
+<p>Append a 0 at the front for HID report ID</p>
+</dd></dl>
+
+</dd></dl>
+
+</div>
+
+
+    </div>
+      
+  </div>
+</div>
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+  <span class="target" id="module-source"></span><div class="section" id="usbbrickio">
+<h1>usbBrickIO<a class="headerlink" href="#usbbrickio" title="Permalink to this headline">¶</a></h1>
+<dl class="class">
+<dt id="source.usbBrickIO">
+<em class="property">class </em><code class="descname">usbBrickIO</code><span class="sig-paren">(</span><em>varargin</em><span class="sig-paren">)</span><a class="headerlink" href="#source.usbBrickIO" title="Permalink to this definition">¶</a></dt>
+<dd><p>USB interface between MATLAB and the brick</p>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>Uses the hid library implementation in hidapi.m</li>
+<li>The default parameters should always work when you try to connect to an EV3 brick,
+so in nearly all use-cases, the constructor does not need any parameters (besides
+'debug' eventually).</li>
+</ul>
+<dl class="attribute">
+<dt id="source.usbBrickIO.debug">
+<code class="descname">debug</code><a class="headerlink" href="#source.usbBrickIO.debug" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>bool</em> &#8211; If true, each open/close/read/write-call will be noted in the console.
+Defaults to false.</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.usbBrickIO.vendorID">
+<code class="descname">vendorID</code><a class="headerlink" href="#source.usbBrickIO.vendorID" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric</em> &#8211; Vendor-ID of the USB device. Defaults to 0x694 (EV3 vendor ID).</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.usbBrickIO.productID">
+<code class="descname">productID</code><a class="headerlink" href="#source.usbBrickIO.productID" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric</em> &#8211; Product-ID of the USB device. Defaults to 0x0005 (EV3 product ID).</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.usbBrickIO.nReadBuffer">
+<code class="descname">nReadBuffer</code><a class="headerlink" href="#source.usbBrickIO.nReadBuffer" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric</em> &#8211; Read-buffer size in bytes. Defaults to 1024.</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.usbBrickIO.nWriteBuffer">
+<code class="descname">nWriteBuffer</code><a class="headerlink" href="#source.usbBrickIO.nWriteBuffer" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric</em> &#8211; Write-buffer size in bytes. Needs to be 1 Byte bigger than
+actual packet. Defaults to 1025 (EV3 USB maximum packet size = 1024).</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.usbBrickIO.timeOut">
+<code class="descname">timeOut</code><a class="headerlink" href="#source.usbBrickIO.timeOut" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric &gt;= 0</em> &#8211; Milliseconds after which a timeout-error occurs if no packet could be
+read. Defaults to 10000.</p>
+</dd></dl>
+
+<p class="rubric">Examples</p>
+<p>% Connecting via USB <br />
+commHandle = usbBrickIO(); % <br />
+% Connecting via USB with enabled debug output <br />
+commHandle = usbBrickIO('debug', true); % <br /></p>
+<dl class="method">
+<dt id="source.usbBrickIO.close">
+<code class="descname">close</code><span class="sig-paren">(</span><em>brickIO</em><span class="sig-paren">)</span><a class="headerlink" href="#source.usbBrickIO.close" title="Permalink to this definition">¶</a></dt>
+<dd><p>Closes the usb connection the brick through the hidapi interface.</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.usbBrickIO.open">
+<code class="descname">open</code><span class="sig-paren">(</span><em>brickIO</em><span class="sig-paren">)</span><a class="headerlink" href="#source.usbBrickIO.open" title="Permalink to this definition">¶</a></dt>
+<dd><p>Opens the usb connection to the brick through the hidapi interface.</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.usbBrickIO.read">
+<code class="descname">read</code><span class="sig-paren">(</span><em>brickIO</em><span class="sig-paren">)</span><a class="headerlink" href="#source.usbBrickIO.read" title="Permalink to this definition">¶</a></dt>
+<dd><p>Reads data from the brick through usb using the hidapi interface and returns the data in uint8 format.</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.usbBrickIO.setProperties">
+<code class="descname">setProperties</code><span class="sig-paren">(</span><em>brickIO</em>, <em>varargin</em><span class="sig-paren">)</span><a class="headerlink" href="#source.usbBrickIO.setProperties" title="Permalink to this definition">¶</a></dt>
+<dd><p>Sets multiple usbBrickIO properties at once using MATLAB's inputParser.</p>
+<p>The syntax is as follows: commHandle.setProperties('propertyName1',
+propertyValue1, 'propertyName2', propertyValue2, ...). Valid, optional properties
+are: debug, vendorID, productID, nReadBuffer, nWriteBuffer, timeOut.</p>
+<p>See also USBBRICKIO.DEBUG, USBBRICKIO.VENDORID, USBBRICKIO.PRODUCTID,
+USBBRICKIO.NREADBUFFER, USBBRICKIO.NWRITEBUFFER, USBBRICKIO.TIMEOUT</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.usbBrickIO.write">
+<code class="descname">write</code><span class="sig-paren">(</span><em>brickIO</em>, <em>wmsg</em><span class="sig-paren">)</span><a class="headerlink" href="#source.usbBrickIO.write" title="Permalink to this definition">¶</a></dt>
+<dd><p>Writes data to the brick through usb using the hidapi interface.</p>
+<table class="docutils field-list" frame="void" rules="none">
+<col class="field-name" />
+<col class="field-body" />
+<tbody valign="top">
+<tr class="field-odd field"><th class="field-name">Parameters:</th><td class="field-body"><strong>wmsg</strong> (<em>uint8 array</em>) &#8211; Data to be written to the brick via usb</td>
+</tr>
+</tbody>
+</table>
+</dd></dl>
+
+</dd></dl>
+
+</div>
+
+
+    </div>
+      
+  </div>
+</div>
+<footer class="footer">
+  <div class="container">
+    <p class="pull-right">
+      <a href="#">Back to top</a>
+      
+    </p>
+    <p>
+        &copy; Copyright 2016, LfB - RWTH Aachen.<br/>
+      Created using <a href="http://sphinx-doc.org/">Sphinx</a> 1.4.8.<br/>
+    </p>
+  </div>
+</footer>
+  </body>
+</html>
\ No newline at end of file
diff --git a/docs/btBrickIO.rst b/docs/btBrickIO.rst
new file mode 100644
index 0000000..5e076d5
--- /dev/null
+++ b/docs/btBrickIO.rst
@@ -0,0 +1,10 @@
+.. automodule:: source
+
+.. |br| raw:: html
+   
+   <br />
+btBrickIO
+=========
+
+.. autoclass:: btBrickIO
+   :members: open, close, read, write, setProperties
diff --git a/docs/hid.rst b/docs/hid.rst
new file mode 100644
index 0000000..a81e179
--- /dev/null
+++ b/docs/hid.rst
@@ -0,0 +1,10 @@
+.. automodule:: source
+
+.. |br| raw:: html
+   
+   <br />
+hidapi
+======
+
+.. autoclass:: hidapi
+   :members: open, close, read, read_timeout, write, getHIDInfoString, setNonBlocking, init, exit, error, enumerate, getManufacturersString, getProductString, getSerialNumberString
diff --git a/docs/index.rst b/docs/index.rst
index a75f04a..157a890 100644
--- a/docs/index.rst
+++ b/docs/index.rst
@@ -45,8 +45,9 @@ Toolbox documentation
 Advanced
 
 .. toctree::
-   :maxdepth: 2
-
-   CommandLayer.rst
-   CommunicationLayer.rst
-
+   :maxdepth: 3
+   
+   hid
+   usbBrickIO
+   btBrickIO
+   
diff --git a/docs/process.py b/docs/process.py
index 7704a45..4b8d5fc 100644
--- a/docs/process.py
+++ b/docs/process.py
@@ -82,7 +82,7 @@ def postprocess():
     postprocess_html_files()
     
 def postprocess_html_files():
-    documented_classes = ['Motor', 'Sensor', 'EV3']
+    documented_classes = ['Motor', 'Sensor', 'EV3', 'usbBrickIO', 'btBrickIO']
         
     for file_name in documented_classes:
         current_file = os.path.abspath('_build/html/' + file_name + '.html')
diff --git a/docs/usbBrickIO.rst b/docs/usbBrickIO.rst
new file mode 100644
index 0000000..785bdc9
--- /dev/null
+++ b/docs/usbBrickIO.rst
@@ -0,0 +1,10 @@
+.. automodule:: source
+
+.. |br| raw:: html
+   
+   <br />
+usbBrickIO
+==========
+
+.. autoclass:: usbBrickIO
+   :members: open, close, read, write, setProperties
diff --git a/source/BrickIO.m b/source/BrickIO.m
index a5ee112..9b86316 100755
--- a/source/BrickIO.m
+++ b/source/BrickIO.m
@@ -1,35 +1,36 @@
-%BrickIO Abstract class definition for brick input output
-%
-% Methods::
-%  open         Open the connection to the brick
-%  close        Close the connection to the brick
-%  read         Read data from the brick
-%  write        Write data to the brick
-%
-% Notes::
-% - handle is the connection object
-% - The read function should return a uint8 datatype
-% - The write function should be given a uint8 datatype as a parameter
-
 classdef BrickIO < MaskedHandle
+    % Abstract class definition for brick input output
+    %
+    % Notes:
+    %     * The read/write-methods use uint8-arrays.
+    %     * Instances of child-classes of BrickIO represent connection handles. The connection is
+    %       opened when creating them and closed when deleting them.
+    %
+    % Methods:
+    %     open: Open the connection to the brick
+    %     close: Close the connection to the brick
+    %     read: Read data from the brick
+    %     write: Write data to the brick
+    % 
+    
     properties (Abstract)
-        % time-out period (if 0, no time-out)
+        % timeOut: time-out period (if 0, no time-out)
         timeOut 
     end
     
-    properties (Abstract, Access = 'protected')
-        % connection handle
+    properties (Abstract, Access = protected)
+        % handle: Connection handle to the device
         handle
     end
     
     methods (Abstract)
-        % open the brick connection
+        % Open the brick connection
         open(BrickIO)
-        % close the brick connection
+        % Close the brick connection
         close(BrickIO)
-        % read data from the brick
+        % Read data from the brick
         read(BrickIO)
-        % write data to the brick
+        % Write data to the brick
         write(BrickIO)
     end
 end
\ No newline at end of file
diff --git a/source/EV3.m b/source/EV3.m
index 7ddac27..53abefb 100755
--- a/source/EV3.m
+++ b/source/EV3.m
@@ -118,7 +118,7 @@ classdef EV3 < MaskedHandle
             % Sets properties of EV3-object and creates Motor- and Sensor-objects with default
             % parameters.
             %
-            % Arguments
+            % Arguments:
             %     varargin: see setProperties(ev3, varargin).
             %
             % See also SETPROPERTIES / :meth:`setProperties(ev3, varargin)`
diff --git a/source/btBrickIO.m b/source/btBrickIO.m
index 0625c3f..fb250d0 100755
--- a/source/btBrickIO.m
+++ b/source/btBrickIO.m
@@ -7,86 +7,85 @@ classdef btBrickIO < BrickIO
     %       module can be made. Also be sure that the bluetooth module has been paired
     %       to the brick before trying to connect.
     %     * Usage is OS-dependent:
-    %       
-    %         - Windows: the deviceName- & channel-properties are needed for connection. The
-    %                    implementation is based on the Instrument Control toolbox.
-    %         - Linux (and potentially Mac): serialPort-property is needed for connection. The 
-    %                    implementation is based on MATLAB's serial port implementation.
+    %           * Windows: the deviceName- & channel-properties are needed for connection. The implementation is based on the Instrument Control toolbox.
+    %           * Linux (and potentially Mac): serialPort-property is needed for connection. The implementation is based on MATLAB's serial port implementation.
+    %
+    %     * For general information, see also :class:`BrickIO`.
     %
     % Attributes:
-    %     debug (bool): If true, each open/close/read/write-call will be noted in the console.
-    %     serialPort (string): Path to the serial-port object (default: '/dev/rfcomm0'). Only
-    %        needed when using MATLAB's serial class (i.e. on linux/mac).
-    %     deviceName (string):  Name of the BT-device = the brick (default: 'EV3'). Only
-    %        needed when using the Instrument Control toolbox (i.e. on windows).
-    %     channel (numeric > 0): BT-channel of the connected BT-device (default: 1). Only
-    %        needed when using the Instrument Control toolbox (i.e. on windows).
+    %     debug (bool): If true, each open/close/read/write-call will be shown in the console.
+    %        Defaults to false.
+    %     serialPort (string): Path to the serial-port object. Only needed when using MATLAB's 
+    %        serial class (i.e. on linux/mac). Defaults to '/dev/rfcomm0'.
+    %     deviceName (string):  Name of the BT-device = the brick. Only needed when using the 
+    %        Instrument Control toolbox (i.e. on windows). Defaults to 'EV3'.
+    %     channel (numeric > 0): BT-channel of the connected BT-device. Only needed when using 
+    %        the Instrument Control toolbox (i.e. on windows). Defaults to 1.
     %     timeOut (numeric >= 0): seconds after which a timeout-error occurs if no packet could be
-    %        read.
+    %        read. Defaults to 10.
     %     backend ('serial'|'instrumentControl'): Backend this implementation is based on. Is
-    %        automatically chosend depending on the OS ('serial' for linux/mac, 
-    %        'instrumentControl' for windows).
+    %        automatically chosen depending on the OS. Defaults to 'serial' on linux/mac
+    %        systems, and to 'instrumentControl' on windows systems.
+    %
+    % 
+    % Examples:
+    %     % Connecting on windows |br|
+    %     commHandle = btBrickIO('deviceName', 'MyEV3', 'channel', 1); % |br| 
+    %     % Connecting on windows using MATLABs default serial port implementation for testing |br|
+    %     commHandle = btBrickIO('deviceName', 'MyEV3', 'channel', 1, 'backend', 'serial'); % |br|
+    %     % Connecting on mac/linux |br|
+    %     commHandle = btBrickIO('serPort', '/dev/rfcomm0'); % |br| 
     %
     
     properties
         % debug (bool): If true, each open/close/read/write-call will be noted in the console.
+        %     Defaults to false.
         debug;
-        % Path to the serial-port object (default: '/dev/rfcomm0'). Only
-        %     needed when using MATLAB's serial class (i.e. on linux/mac).
+        % serialPort (string): Path to the serial-port object. Defaults to '/dev/rfcomm0'.
+        %     Only needed when using MATLAB's serial class (i.e. on linux/mac). 
         serialPort;
-        % deviceName (string):  Name of the BT-device = the brick (default: 'EV3'). Only
-        %     needed when using the Instrument Control toolbox (i.e. on windows).
+        % deviceName (string):  Name of the BT-device = the brick. Defaults to 'EV3'.
+        %     Only needed when using the Instrument Control toolbox (i.e. on windows). 
         deviceName;
-        % channel (numeric > 0): BT-channel of the connected BT-device (default: 1). Only
-        %     needed when using the Instrument Control toolbox (i.e. on windows).
+        % channel (numeric > 0): BT-channel of the connected BT-device. Defaults to 1.
+        %     Only needed when using the Instrument Control toolbox (i.e. on windows). 
         channel;
-        % timeOut (numeric > 0): seconds after which a timeout-error occurs if no packet could be
-        %     read.
+        % timeOut (numeric > 0): Seconds after which a timeout-error occurs if no packet could be read. 
+        %     Defaults to 10.
         timeOut;
-        % backend ('serial'|'instrumentControl'): Backend this implementation is based on. Is
-        %     automatically chosend depending on the OS ('serial' for linux/mac, 
-        %     'instrumentControl' for windows).
+        % backend ('serial'|'instrumentControl'): Backend this implementation is based on. 
+        %     Is automatically chosen depending on the OS. Defaults to 'serial' on linux/mac
+        %     systems, and to 'instrumentControl' on windows systems.
         backend;
     end
     
-    properties (Access = 'protected')
-        % connection handle
-        handle
+    properties (Access = protected)
+        % handle: Connection handle to the device
+        handle;
     end 
     
     methods
-        function brickIO = btBrickIO(brickIO, varargin)
-            %btBrickIO.btBrickIO Create a btBrickIO object
+        function brickIO = btBrickIO(varargin)
+            % Create a btBrickIO object
             %
-            % btbrick = btBrickIO(debug,serialPort) is an object which
-            % initialises and opens a bluetooth connection between MATLAB
-            % and the brick.
-            
-            p = inputParser();
-            p.KeepUnmatched = 1;
-            
-            p.addOptional('debug', 0);
-            p.addOptional('serPort', '/dev/rfcomm0');
-            p.addOptional('deviceName', 'EV3');
-            p.addOptional('channel', 1);
-            p.addOptional('timeOut', 10);
-            if(ispc && license('test', 'instr_control_toolbox'))
-                p.addOptional('backend', 'instrumentControl');
-            else
-                p.addOptional('backend', 'serial');
-            end
+            % Arguments:
+            %     varargin: Any number of property names as strings, each followed by the
+            %         desired value. 
+            % 
+            % Examples: 
+            %     % Connecting on windows
+            %     commHandle = btBrickIO('deviceName', 'MyEV3', 'channel', 1); 
+            %     % Connecting on windows using MATLABs default serial port implementation for testing
+            %     commHandle = btBrickIO('deviceName', 'MyEV3', 'channel', 1, 'backend', 'serial'); 
+            %     % Connecting on mac/linux 
+            %     commHandle = btBrickIO('serPort', '/dev/rfcomm0');
+            %
+            % See also BTBRICKIO.SETPROPERTIES
             
-            p.parse(varargin{:});
-            
-            brickIO.debug = p.Results.debug;
-            brickIO.serialPort = p.Results.serPort;
-            brickIO.deviceName = p.Results.deviceName;
-            brickIO.channel = p.Results.channel;
-            brickIO.timeOut = p.Results.timeOut;
-            brickIO.backend = p.Results.backend;
+            brickIO.setProperties(varargin{:});
             
             if brickIO.debug > 0
-                fprintf('btBrickIO init\n');
+                fprintf('(DEBUG) btBrickIO init\n');
             end
             
             % Set the connection handle
@@ -112,17 +111,15 @@ classdef btBrickIO < BrickIO
                 end
             end
             
-            % Open the connection handle
+            % Open the connection
             brickIO.open;
         end
         
         function delete(brickIO)
-            %btBrickIO.delete Delete the btBrickIO object
-            %
-            % delete(brickIO) closes the bluetooth connection handle
+            % Delete the btBrickIO object and closes the connection
             
             if brickIO.debug > 0
-                fprintf('btBrickIO delete\n');
+                fprintf('(DEBUG) (BT delete\n');
             end
             
             % Disconnect
@@ -134,13 +131,10 @@ classdef btBrickIO < BrickIO
         end
         
         function open(brickIO)
-            %btBrickIO.open Open the btBrickIO object
-            %
-            % btBrickIO.open() opens the bluetooth connection to the brick
-            % using fopen.
+            % Opens the bluetooth connection to the brick using fopen.
             
             if brickIO.debug > 0
-                fprintf('btBrickIO open\n');
+                fprintf('(DEBUG) (BT open)\n');
             end
             
             % Open the bt handle
@@ -165,13 +159,10 @@ classdef btBrickIO < BrickIO
         end
 
         function close(brickIO)
-            %btBrickIO.close Close the btBrickIO object
-            %
-            % btBrickIO.close() closes the bluetooth connection the brick
-            % using fclose.
+            % Closes the bluetooth connection the brick using fclose.
             
             if brickIO.debug > 0
-                fprintf('btBrickIO close\n');
+                fprintf('(DEBUG) (BT close) \n');
             end 
             
             try
@@ -189,13 +180,10 @@ classdef btBrickIO < BrickIO
         end
         
         function rmsg = read(brickIO)
-            %btBrickIO.read Read data from the btBrickIO object
-            %
-            % rmsg = btBrickIO.read() reads data from the brick through
-            % bluetooth via fread and returns the data in uint8 format.
+            % Reads data from the brick through bluetooth via fread and returns the data in uint8 format.
             
             if brickIO.debug > 0
-                fprintf('btBrickIO read\n');
+                fprintf('(DEBUG) (BT read) \n');
             end 
             
             try
@@ -225,17 +213,13 @@ classdef btBrickIO < BrickIO
         end
         
         function write(brickIO,wmsg)
-            %btBrickIO.write Write data to the btBrickIO object
-            %
-            % btBrickIO.write(wmsg) writes data to the brick through
-            % bluetooth.
+            % Writes data to the brick through bluetooth via fwrite.
             %
-            % Notes::
-            % - wmsg is the data to be written to the brick via bluetooth
-            % in uint8 format.
+            % Arguments:
+            %     wmsg (uint8 array): Data to be written to the brick via bluetooth
             
             if brickIO.debug > 0
-                fprintf('btBrickIO write\n');
+                fprintf('(DEBUG) btBrickIO write\n');
             end 
             
             try
@@ -284,5 +268,38 @@ classdef btBrickIO < BrickIO
             
             brickIO.backend = backend;
         end
+        function setProperties(brickIO, varargin)
+            % Sets multiple btBrickIO properties at once using MATLAB's inputParser.
+            %
+            % The syntax is as follows: commHandle.setProperties('propertyName1',
+            % propertyValue1, 'propertyName2', propertyValue2, ...). Valid, optional properties
+            % are: debug, serPort, deviceName, channel, timeout.
+            %
+            % See also BTBRICKIO.DEBUG, BTBRICKIO.SERIALPORT, BTBRICKIO.DEVICENAME,
+            % BTBRICKIO.CHANNEL, BTBRICKIO.TIMEOUT
+            
+            p = inputParser();
+            p.KeepUnmatched = 1;
+            
+            p.addOptional('debug', false);
+            p.addOptional('serPort', '/dev/rfcomm0');
+            p.addOptional('deviceName', 'EV3');
+            p.addOptional('channel', 1);
+            p.addOptional('timeOut', 10);
+            if(ispc && license('test', 'instr_control_toolbox'))  % Choose 'backend'-default depending on OS
+                p.addOptional('backend', 'instrumentControl');
+            else
+                p.addOptional('backend', 'serial');
+            end
+            
+            p.parse(varargin{:});
+            
+            brickIO.debug = p.Results.debug;
+            brickIO.serialPort = p.Results.serPort;
+            brickIO.deviceName = p.Results.deviceName;
+            brickIO.channel = p.Results.channel;
+            brickIO.timeOut = p.Results.timeOut;
+            brickIO.backend = p.Results.backend;
+        end
     end 
 end
diff --git a/source/hidapi.m b/source/hidapi.m
index 0815abd..a4a35a5 100755
--- a/source/hidapi.m
+++ b/source/hidapi.m
@@ -1,92 +1,68 @@
-%hidpi Interface to the hidapi library
-%
-% Methods::
-%  hidapi                   Constructor, loads the hidapi library
-%  delete                   Destructor, closes any open hid connection
-%
-%  open                     Open the hid device with vendor and product ID
-%  close                    Close the hid device connection
-%  read                     Read data from the hid device
-%  write                    Write data to the hid device
-%
-%  getHIDInfoString         Get the relevant hid info from the hid device
-%  getManufacturersString   Get the manufacturers string from the hid device
-%  getProductString         Get the product string from the hid device
-%  getSerialNumberString    Get the serial number from the hid device
-%  setNonBlocking           Set non blocking hid read
-%  init                     Init the hidapi (executed in open by default)
-%  exit                     Exit the hidapi
-%  error                    Return the error string
-%  enumerate                Enumerate the connected hid devices
-%
-%
-% Example::
-%           hid = hidapi(1,1684,0005,1024,1025)
-%
-% Notes::
-% - Developed from the hidapi available from http://www.signal11.us/oss/hidapi/
-% - Windows: need the hidapi.dll file
-% - Mac: need the hidapi.dylib file. Will also need Xcode installed to run load library
-% - Linux: will need to compile on host system and copy the resulting .so file
-
 classdef hidapi < handle
+    % Interface to the hidapi library
+    % 
+    % Notes:
+    %     * Developed from the hidapi available at http://www.signal11.us/oss/hidapi/.
+    %     * Windows: hidapi.dll needed.
+    %     * Mac: hidapi.dylib needed. In addition, Xcode has to be installed.
+    %     * Linux: hidapi has to be compiled on host-system. 
+    % 
+    % Attributes:
+    %     handle ():
+    %     vendorID (numeric): Vendor-ID of the USB device.
+    %     productID (numeric): Product-ID of the USB device. 
+    %     nReadBuffer (numeric): Read-buffer size in bytes.
+    %     nWriteBuffer (numeric): Write-buffer size in bytes. Needs to be 1 Byte bigger than
+    %        actual packet.
+    %     slib (string): Name of shared library file (without file extension). Defaults to
+    %        'hidapi'.
+    %     sheader (string): Name of shared library header. Defaults to 'hidapi.h'.
+    %
+    % Example:
+    %     hidHandle = hidapi(1684,0005,1024,1025); %|br|
+    %
+    
     properties
-        % connection handle
+        % handle: Connection handle to the device.
         handle
-        % debug input
-        debug = 0;
-        % vendor ID
-        vendorID = 0;
-        % product ID
-        productID = 0;
-        % read buffer size
-        nReadBuffer = 256;
-        % write buffer size
-        nWriteBuffer = 256;
-        % shared library
+        % vendorID (numeric): Vendor-ID of the USB device.
+        vendorID;
+        % productID (numeric): Product-ID of the USB device.
+        productID;
+        % nReadBuffer (numeric): Read-buffer size in bytes. 
+        nReadBuffer;
+        % nWriteBuffer (numeric): Write-buffer size in bytes.
+        %    Needs to be 1 Byte bigger than actual packet.
+        nWriteBuffer;
+        % slib (string): Name of shared library file (without file extension). Defaults to 'hidapi'.
         slib = 'hidapi';
-        % shared library header
+        % sheader (string): Name of shared library header. Defaults to 'hidapi.h'.
         sheader = 'hidapi.h';
-        
     end
     
     methods
         %% Constructor
         
-        function hid = hidapi(debug,vendorID,productID,nReadBuffer,nWriteBuffer)
-            %hidapi.hidapi Create a hidapi library interface object
+        function hid = hidapi(vendorID,productID,nReadBuffer,nWriteBuffer)
+            % Create a hidapi library interface object from the corresponding library 
             %
-            % hid = hidapi(debug,vendorID,productID,nReadBuffer,nWriteButter)
-            % is an object which initialises the hidapi from the corresponding
-            % OS library. Other parameters are also initialised. Some OS
-            % checking is required in this function to load the correct
-            % library.
+            % Arguments:
+            %     vendorID (numeric): Vendor-ID of the USB device in decimal.
+            %     productID (numeric): Product-ID of the USB device in decimal. 
+            %     nReadBuffer (numeric): Read-buffer size in bytes.
+            %     nWriteBuffer (numeric): Write-buffer size in bytes. Needs to be 1 Byte bigger than
+            %        actual packet.
             %
-            % Throws::
-            %  LoadingLibraryError              Could not load .dll/.dylib/.so-file of hidapi
-            %  InvalidFileNameOrFileMissing     Either file names given were wrong or the files 
-            %                                   are missing (thunk files, proto files, ...)
+            % Raises:
+            %     LoadingLibraryError: Could not load .dll/.dylib/.so-file of hidapi.
+            %     InvalidFileNameOrFileMissing: Either file names given were wrong or the files 
+            %        are missing (thunk files, proto files, ...).
             %
-            % Notes::
-            % - debug is a flag specifying output printing (0 or 1).
-            % - vendorID is the vendor ID of the hid device (decimal not hex).
-            % - productID is the product ID of the hid device (decimal not hex).
-            % - nReadBuffer is the length of the read buffer.
-            % - nWriteBuffer is the length of the write buffer.
-            
             
-            hid.debug = debug;
-            
-            if hid.debug > 0
-                fprintf('hidapi init\n');
-            end
-            
-            if nargin > 1
-                hid.vendorID = vendorID;
-                hid.productID = productID;
-                hid.nReadBuffer = nReadBuffer;
-                hid.nWriteBuffer = nWriteBuffer;
-            end
+            hid.vendorID = vendorID;
+            hid.productID = productID;
+            hid.nReadBuffer = nReadBuffer;
+            hid.nWriteBuffer = nWriteBuffer;
             
             % Disable warnings
             warning('off','MATLAB:loadlibrary:TypeNotFoundForStructure');
@@ -132,81 +108,37 @@ classdef hidapi < handle
 
                 throw(exception);
             end
+            
             % Remove the library extension
             hid.slib = 'hidapiusb';
 
-            if hid.debug > 0
-                libfunctionsview('hidapiusb');
-            end
+%             if hid.debug > 0
+%                 libfunctionsview('hidapiusb');
+%             end
         end
         
         function delete(hid)
-            %hidapi.delete Delete hid object
+            % Close an open hid device connection and delete the object. 
             %
-            % delete(hid) closes an open hid device connection. This function is called 
-            % automatically when deleting.
-            %
-            % Notes::
-            % - You cannot unloadlibrary in this function as the object is
-            % still present in the MATLAB work space.
-            
-            if hid.debug > 0
-                fprintf('hidapi delete\n');
-            end
+            % Notes:
+            %     * You cannot unloadlibrary in this function as the object is still present 
+            %       in the MATLAB work space. Todo: Any alternative?
         end
         
-        %% Wrapper 
-        
-        function str = getManufacturersString(hid)
-            %hidapi.getManufacturersString get manufacturers string from hid object
-            %
-            % hid.getManufacturersString() returns the manufacturers string
-            % from the hid device using getHIDInfoString.
-            
-            str = getHIDInfoString(hid,'hid_get_manufacturer_string');
-        end
-        
-        function str = getProductString(hid)
-            %hidapi.getProductString get product string from hid object
-            %
-            % hid.getProductString() returns the product string from the
-            % hid device using getProductString.
-            
-            str = getHIDInfoString(hid,'hid_get_product_string');
-        end
-        
-        function str = getSerialNumberString(hid)
-            %hidapi.getSerialNumberString get product string from hid object
-            %
-            % hid.getSerialNumberString() returns the serial number string
-            % from the hid device using getSerialNumberString.
-            
-            str = getHIDInfoString(hid,'hid_get_serial_number_string');
-        end
-        
-        %% Wrapped HIDAPI-Functions
+        %% HIDAPI-Functions
         
         function open(hid)
-            %hidapi.open Open a hid object
-            %
-            % hid.open() opens a connection with a hid device with the
-            % initialised values of vendorID and productID from the hidapi
-            % constructor.
+            % Open a connection with a hid device
             %
-            % Throws::
-            %  CommError	Error during communication with device
+            % Throws:
+            %     CommError: Error during communication with device
             %
-            % Notes::
-            % - The pointer return value from this library call is always
-            % null so it is not possible to know if the open was
-            % successful.
-            % - The final parameter to the open hidapi library call has
-            % different types depending on OS. In windows it is uint16 but
-            % linux/mac it is int32.
-            
-            if hid.debug > 0
-                fprintf('hidapi open\n');
-            end
+            % Notes: 
+            %     * Gets called automatically when creating an hidapi-object.
+            %     * The pointer return value from this library call is always null so it is not 
+            %       possible to know if the open was successful.
+            %     * The final parameter to the open hidapi library call has different types 
+            %       depending on OS. On windows it is uint16, on linux/mac int32.
             
             % Create a null pointer for the hid_open function (depends on OS)
             if (ispc == 1)
@@ -228,18 +160,13 @@ classdef hidapi < handle
         end
         
         function close(hid)
-            %hidapi.close Close hid object
-            %
-            % hid.close() closes the connection to a hid device. Gets called automatically
-            % when deleting the hid instance.
+            % Close the connection to a hid device. 
             %
-            % Throws::
-            %  InvalidHandle	Handle to USB-device not valid
+            % Throws:
+            %     InvalidHandle: Handle to USB-device not valid
             %
-            
-            if hid.debug > 0
-                fprintf('hidapi close\n');
-            end
+            % Notes:
+            %     * Gets called automatically when deleting the hidapi instance.
             
             % (MMI) Check if pointer is (unexpectedly) already invalidated
             assert(isLibPointerValid(hid.handle)==1, ...
@@ -253,24 +180,18 @@ classdef hidapi < handle
             hid.handle = [];
         end
         
-        % @ MMI
+        % Implemented @ MMI
         function rmsg = read_timeout(hid, timeOut)
-            %hidapi.read_timeout Read from hid object with a time-out
+            % Read from a hid device with a timeout and return the read bytes. 
             %
-            % rmsg = hid.read_timeout() reads from a hid device and returns the
-            % read bytes. Will print an error if no data was read during the time-out period.
+            % Arguments:
+            %     timeOut (numeric >= 0): Milliseconds after which a timeout-error occurs if no 
+            %         packet could be read.
             %
-            % Arguments::
-            %  timeOut          time-out period in milliseconds
+            % Throws:
+            %     CommError: Error during communication with device
+            %     InvalidHandle: Handle to USB-device not valid
             %
-            % Throws::
-            %  CommError        Error during communication with device
-            %  InvalidHandle    Handle to USB-device not valid
-            %
-            
-            if hid.debug > 0
-                fprintf('hidapi read_timeout\n');
-            end
             
             % Read buffer of nReadBuffer length
             buffer = zeros(1,hid.nReadBuffer);
@@ -309,19 +230,15 @@ classdef hidapi < handle
         end
         
         function rmsg = read(hid)
-            %hidapi.read Read from hid object
+            % Read from a hid device and returns the read bytes.
             %
-            % rmsg = hid.read() reads from a hid device and returns the
-            % read bytes. Will print an error if no data was read.
+            % Throws:
+            %     CommError: Error during communication with device
+            %     InvalidHandle: Handle to USB-device not valid
+            % 
+            % Notes: 
+            %     * Will print an error if no data was read.
             %
-            % Throws::
-            %  CommError        Error during communication with device
-            %  InvalidHandle    Handle to USB-device not valid
-            %
-            
-            if hid.debug > 0
-                fprintf('hidapi read\n');
-            end
             
             % Read buffer of nReadBuffer length
             buffer = zeros(1,hid.nReadBuffer);
@@ -360,21 +277,17 @@ classdef hidapi < handle
         end
         
         function write(hid,wmsg,reportID)
-            %hidapi.write Write to hid object
+            % Write to a hid device.
             %
-            % hid.write() writes to a hid device. Will print an error if
-            % there is a mismatch between the buffer size and the reported
-            % number of bytes written.
+            % Throws:
+            %     CommError: Error during communication with device
+            %     InvalidHandle: Handle to USB-device not valid
             %
-            % Throws::
-            %  CommError        Error during communication with device
-            %  InvalidHandle	Handle to USB-device not valid
+            % Notes: 
+            %     * Will print an error if there is a mismatch between the buffer size and the 
+            %       reported number of bytes written.
             %
             
-            if hid.debug > 0
-                fprintf('hidapi write\n');
-            end
-            
             % Append a 0 at the front for HID report ID
             wmsg = [reportID wmsg];
             
@@ -384,7 +297,7 @@ classdef hidapi < handle
             % anything, and I would prefer sending short messages over long ones.
             % Further testing may be required, so for now I don't change a thing.
             % (MMI) Update:: Okay, so under Windows, this line IS necessary, as well as the
-            % fixed write-buffer size of 1025 bytes (== wMaxPacketSize+1; smaller packets fail; 
+            % fixed write-buffer size of 1025 bytes for EV3 (== wMaxPacketSize+1; smaller packets fail; 
             % bigger packets do get handled by the brick, but the second assertion below will fail).
             wmsg(end+(hid.nWriteBuffer-length(wmsg))) = 0;
             
@@ -406,21 +319,19 @@ classdef hidapi < handle
         end
         
         function str = getHIDInfoString(hid,info)
-            %hidapi.getHIDInfoString get hid information from object
+            % Get the corresponding hid info from the hid device.
             %
-            % hid.getHIDInfoString(info) gets the corresponding hid info
-            % from the hid device
+            % Throws:
+            %     CommError: Error during communication with device
+            %     InvalidHandle: Handle to USB-device not valid
             %
-            % Throws::
-            %  CommError        Error during communication with device
-            %  InvalidHandle	Handle to USB-device not valid
+            % Notes:
+            %     * Info is the hid information string. 
+            %
+            % See also HIDAPI.GETMANUFACTURERSSTRING, HIDAPI.GETPRODUCTSTRING,
+            % HIDAPI.GETSERIALNUMBERSTRING.
             %
-            % Notes::
-            % - info is the hid information string.
             
-            if hid.debug > 0
-                fprintf(['hidapi ' info '\n']);
-            end
             % Read buffer nReadBuffer length
             buffer = zeros(1,hid.nReadBuffer);
             % Create a libpointer (depends on OS)
@@ -448,21 +359,15 @@ classdef hidapi < handle
         end
         
         function setNonBlocking(hid,nonblock)
-            %hidapi.setNonBlocking sets non blocking on the hid object
+            % Set the non blocking flag on the hid device connection.
             %
-            % hid.setNonBlocking(nonblock) sets the non blocking flag on
-            % the hid device connection.
+            % Arguments:
+            %     nonblock (numeric in {0,1}): 0 disables nonblocking, 1 enables nonblocking
             %
-            % Throws::
-            %  CommError        Error during communication with device
-            %  InvalidHandle	Handle to USB-device not valid
+            % Throws:
+            %     CommError: Error during communication with device
+            %     InvalidHandle: Handle to USB-device not valid
             %
-            % Notes::
-            % nonblock - 0 disables nonblocking, 1 enables nonblocking
-            
-            if hid.debug > 0
-                fprintf('hidapi setNonBlocking\n');
-            end
             
             % (MMI) Check if pointer is (unexpectedly) already invalidated
             assert(isLibPointerValid(hid.handle)==1, ...
@@ -479,20 +384,15 @@ classdef hidapi < handle
         end
         
         function init(hid)
-            %hidapi.init Init hidapi
+            % Inits the hidapi library. 
             %
-            % hid.init() inits the hidapi library. This is called
-            % automatically in the library itself with the open function.
+            % Throws:
+            %     CommError: Error during communication with device
             %
-            % Throws::
-            %  CommError	Error during communication with device
+            % Notes:
+            %     * This is called automatically in the library itself with the open function. You 
+            %       should not have to call this function directly.
             %
-            % Notes::
-            % - You should not have to call this function directly.
-            
-            if hid.debug > 0
-                fprintf('hidapi init\n');
-            end
             
             warning([hid.slib, ':', 'RedundantCall'], ...
                 'The init-function gets called automatically when connecting!');
@@ -511,16 +411,12 @@ classdef hidapi < handle
             %
             % hid.exit() exits the hidapi library.
             %
-            % Throws::
-            %  CommError	Error during communication with device
+            % Throws:
+            %     CommError: Error during communication with device
             %
             % Notes::
             % - You should not have to call this function directly.
             
-            if hid.debug > 0
-                fprintf('hidapi exit\n');
-            end
-            
             warning([hid.slib, ':', 'RedundantCall'], ...
                 'The exit-function gets called automatically when disconnecting!');
             
@@ -534,21 +430,15 @@ classdef hidapi < handle
         end
         
         function str = error(hid)
-            %hidapi.error Output the hid object error string
+            % Return the hid device error string if a function produced an error.
             %
-            % hid.error() returns the hid device error string if a function
-            % produced an error.
+            % Throws:
+            %     InvalidHandle: Handle to USB-device not valid
             %
-            % Throws::
-            %  InvalidHandle	Handle to USB-device not valid
-            %
-            % Notes::
-            % - This function must be called explicitly if you think an
-            % error was generated from the hid device.
-            
-            if hid.debug > 0
-                fprintf('hidapi error\n');
-            end
+            % Notes:
+            %     * This function must be called explicitly if you think an error was generated 
+            %       from the hid device.
+            % 
             
             % (MMI) Check if pointer is (unexpectedly) already invalidated
             assert(isLibPointerValid(hid.handle)==1, ...
@@ -559,34 +449,44 @@ classdef hidapi < handle
         end
         
         function str = enumerate(hid,vendorID,productID)
-            %hidapi.enumerate Enumerates the hid object
+            % Enumerates the info about the hid device with the given vendorID and productID 
+            % and returns a string with the returned hid information.
             %
-            % str = hid.enumerate(vendorID,productID) enumerates the hid
-            % device with the given vendorID and productID and returns a
-            % string with the returned hid information.
+            % Arguments:
+            %     vendorID (numeric): Vendor-ID of the USB device in decimal.
+            %     productID (numeric): Product-ID of the USB device in decimal. 
+            %
+            % Notes:
+            %     * Using a vendorID and productID of (0,0) will enumerate all connected hid 
+            %       devices.
+            %     * MATLAB does not have the hid_device_infoPtr struct so some of the returned 
+            %       information will need to be resized and cast into uint8 or chars.
             %
-            % Notes::
-            % - vendorID is the vendor ID (in decimal not hex).
-            % - productID is the vendor ID (in decimal not hex).
-            % - Using a vendorID and productID of (0,0) will enumerate all
-            % connected hid devices.
-            % - MATLAB does not have the hid_device_infoPtr struct so some
-            % of the returned information will need to be resized and cast
-            % into uint8 or chars.
-            
-            if hid.debug > 0
-                fprintf('hidapi enumerate\n');
-            end
             
             % Enumerate the hid devices
             str = calllib(u.slib,'hid_enumerate',uint16(vendorID),uint16(productID));
         end
+        
+        %% Wrapper 
+        
+        function str = getManufacturersString(hid)
+            % Get manufacturers string from hid object using getHIDInfoString.
+            str = getHIDInfoString(hid,'hid_get_manufacturer_string');
+        end
+        function str = getProductString(hid)
+            % Get product string from hid object using getProductString.
+            str = getHIDInfoString(hid,'hid_get_product_string');
+        end
+        function str = getSerialNumberString(hid)
+            % Get serial number from hid object using getSerialNumberString.
+            str = getHIDInfoString(hid,'hid_get_serial_number_string');
+        end
     end
 end
 
-
+% Implemented @ MMI
 function valid = isLibPointerValid(handle)
-    %isHandleValid Check whether hid.handle is valid libpointer
+    % Check whether hid.handle is valid libpointer
 
     valid = 0;
     if ~isempty(handle)
diff --git a/source/tb_optparse.m b/source/tb_optparse.m
deleted file mode 100755
index 2fedb2b..0000000
--- a/source/tb_optparse.m
+++ /dev/null
@@ -1,193 +0,0 @@
-%OPTPARSE Standard option parser for Toolbox functions
-%
-% [OPTOUT,ARGS] = TB_OPTPARSE(OPT, ARGLIST) is a generalized option parser for
-% Toolbox functions.  It supports options that have an assigned value, boolean 
-% or enumeration types (string or int).
-%
-% The software pattern is:
-%
-%       function(a, b, c, varargin)
-%       opt.foo = true;
-%       opt.bar = false;
-%       opt.blah = [];
-%       opt.choose = {'this', 'that', 'other'};
-%       opt.select = {'#no', '#yes'};
-%       opt = tb_optparse(opt, varargin);
-%
-% Optional arguments to the function behave as follows:
-%   'foo'           sets opt.foo <- true
-%   'nobar'         sets opt.foo <- false
-%   'blah', 3       sets opt.blah <- 3
-%   'blah', {x,y}   sets opt.blah <- {x,y}
-%   'that'          sets opt.choose <- 'that'
-%   'yes'           sets opt.select <- 2 (the second element)
-%
-% and can be given in any combination.
-%
-% If neither of 'this', 'that' or 'other' are specified then opt.choose <- 'this'.
-% If neither of 'no' or 'yes' are specified then opt.select <- 1.
-%
-% Note:
-% - that the enumerator names must be distinct from the field names.
-% - that only one value can be assigned to a field, if multiple values
-%    are required they must be converted to a cell array.
-%
-% The allowable options are specified by the names of the fields in the
-% structure opt.  By default if an option is given that is not a field of 
-% opt an error is declared.  
-%
-% Sometimes it is useful to collect the unassigned options and this can be 
-% achieved using a second output argument
-%           [opt,arglist] = tb_optparse(opt, varargin);
-% which is a cell array of all unassigned arguments in the order given in
-% varargin.
-%
-% The return structure is automatically populated with fields: verbose and
-% debug.  The following options are automatically parsed:
-%   'verbose'           sets opt.verbose <- true
-%   'verbose=2'         sets opt.verbose <- 2 (very verbose)
-%   'verbose=3'         sets opt.verbose <- 3 (extremeley verbose)
-%   'verbose=4'         sets opt.verbose <- 4 (ridiculously verbose)
-%   'debug', N          sets opt.debug <- N
-%   'setopt', S         sets opt <- S
-%   'showopt'           displays opt and arglist
-
-function [opt,others] = tb_optparse(in, argv)
-
-    arglist = {};
-
-    argc = 1;
-    opt = in;
-    try
-        opt.verbose = false;
-        opt.debug = 0;
-    end
-
-    showopt = false;
-
-    while argc <= length(argv)
-        option = argv{argc};
-        assigned = false;
-        
-        if isstr(option)
-
-            switch option
-            % look for hardwired options
-            case 'verbose'
-                opt.verbose = true;
-                assigned = true;
-            case 'verbose=2'
-                opt.verbose = 2;
-                assigned = true;
-            case 'verbose=3'
-                opt.verbose = 3;
-                assigned = true;
-            case 'verbose=4'
-                opt.verbose = 4;
-                assigned = true;
-            case 'debug'
-                opt.debug = argv{argc+1};
-                argc = argc+1;
-                assigned = true;
-            case 'setopt'
-                new = argv{argc+1};
-                argc = argc+1;
-                assigned = true;
-
-
-                % copy matching field names from new opt struct to current one
-                for f=fieldnames(new)'
-                    if isfield(opt, f{1})
-                        opt = setfield(opt, f{1}, getfield(new, f{1}));
-                    end
-                end
-            case 'showopt'
-                showopt = true;
-                assigned = true;
-
-            otherwise
-                % does the option match a field in the opt structure?
-                if isfield(opt, option)
-                    val = getfield(opt, option);
-                    if islogical(val)
-                        % a logical variable can only be set by an option
-                        opt = setfield(opt, option, true);
-                    else
-                        % otherwise grab its value from the next arg
-                        opt = setfield(opt, option, argv{argc+1});
-                        argc = argc+1;
-                    end
-                    assigned = true;
-                elseif length(option)>2 && strcmp(option(1:2), 'no') && isfield(opt, option(3:end))
-                    val = getfield(opt, option(3:end));
-                    if islogical(val)
-                        % a logical variable can only be set by an option
-                        opt = setfield(opt, option(3:end), false);
-                        assigned = true;
-                    end
-                else
-                    % the option doesnt match a field name
-                    for field=fieldnames(opt)'
-                        val = getfield(opt, field{1});
-                        if iscell(val)
-                            for i=1:length(val)
-                                if isempty(val{i})
-                                    continue;
-                                end
-                                if strcmp(option, val{i})
-                                    opt = setfield(opt, field{1}, option);
-                                    assigned = true;
-                                    break;
-                                elseif val{i}(1) == '#' && strcmp(option, val{i}(2:end))
-                                    opt = setfield(opt, field{1}, i);
-                                    assigned = true;
-                                    break;
-                                end
-                            end
-                            if assigned
-                                break;
-                            end
-                        end
-                    end
-
-
-                end
-            end % switch
-        end
-        if ~assigned
-            % non matching options are collected
-            if nargout == 2
-                arglist = [arglist argv(argc)];
-            else
-                if isstr(argv{argc})
-                    error(['unknown options: ' argv{argc}]);
-                end
-            end
-        end
-        
-        argc = argc + 1;
-    end % while
-
-    % if enumerator value not assigned, set the default value
-    for field=fieldnames(in)'
-        if iscell(getfield(in, field{1})) && iscell(getfield(opt, field{1}))
-            val = getfield(opt, field{1});
-            if isempty(val{1})
-                opt = setfield(opt, field{1}, val{1});
-            elseif val{1}(1) == '#'
-                opt = setfield(opt, field{1}, 1);
-            else
-                opt = setfield(opt, field{1}, val{1});
-            end
-        end
-    end
-                        
-    if showopt
-        fprintf('Options:\n');
-        opt
-        arglist
-    end
-
-    if nargout == 2
-        others = arglist;
-    end
diff --git a/source/usbBrickIO.m b/source/usbBrickIO.m
index d2c5fb2..f4ce6c0 100755
--- a/source/usbBrickIO.m
+++ b/source/usbBrickIO.m
@@ -3,63 +3,75 @@ classdef usbBrickIO < BrickIO
     %
     % Notes:
     %     * Uses the hid library implementation in hidapi.m
+    %     * The default parameters should always work when you try to connect to an EV3 brick,
+    %       so in nearly all use-cases, the constructor does not need any parameters (besides
+    %       'debug' eventually).
     %
     % Attributes:
     %     debug (bool): If true, each open/close/read/write-call will be noted in the console.
-    %     vendorID (numeric): = 0x694 for EV3 
-    %     productID (numeric): = 0x0005 for EV3
-    %     nReadBuffer (numeric): read buffer size
-    %     nWriteBuffer (numeric): write buffer size (1 Byte bigger than actual packet)
-    %     timeOut (numeric >= 0): milliseconds after which a timeout-error occurs if no packet could be
-    %        read.
+    %        Defaults to false.
+    %     vendorID (numeric): Vendor-ID of the USB device. Defaults to 0x694 (EV3 vendor ID).
+    %     productID (numeric): Product-ID of the USB device. Defaults to 0x0005 (EV3 product ID).
+    %     nReadBuffer (numeric): Read-buffer size in bytes. Defaults to 1024.
+    %     nWriteBuffer (numeric): Write-buffer size in bytes. Needs to be 1 Byte bigger than
+    %        actual packet. Defaults to 1025 (EV3 USB maximum packet size = 1024).
+    %     timeOut (numeric >= 0): Milliseconds after which a timeout-error occurs if no packet could be
+    %        read. Defaults to 10000.
+    %
+    % Examples:
+    %    % Connecting via USB |br|
+    %    commHandle = usbBrickIO(); % |br|
+    %    % Connecting via USB with enabled debug output |br|
+    %    commHandle = usbBrickIO('debug', true); % |br|
     %
     
     properties
         % debug (bool): If true, each open/close/read/write-call will be noted in the console.
-        debug = 0;
-        % vendorID (numeric): = 0x694 for EV3 
-        vendorID = 1684;
-        % productID (numeric): = 0x0005 for EV3
-        productID = 5;
-        % nReadBuffer (numeric): read buffer size
-        nReadBuffer = 1024;
-        % nWriteBuffer (numeric): write buffer size (1 Byte bigger than actual packet)
-        nWriteBuffer = 1025;
-        % timeOut (numeric >= 0): milliseconds after which a timeout-error occurs if no packet could be
-        %     read.
-        timeOut = 10000;
+        %    Defaults to false.
+        debug;
+        % vendorID (numeric): Vendor-ID of the USB device. Defaults to 0x694 (EV3 vendor ID).
+        vendorID;
+        % productID (numeric): Product-ID of the USB device. Defaults to 0x0005 (EV3 product ID).
+        productID;
+        % nReadBuffer (numeric): Read-buffer size in bytes. Defaults to 1024.
+        nReadBuffer;
+        % nWriteBuffer (numeric): Write-buffer size in bytes. Defaults to 1025 (EV3 USB maximum packet size = 1024).
+        %    Needs to be 1 Byte bigger than actual packet. 
+        nWriteBuffer;
+        % timeOut (numeric >= 0): Milliseconds after which a timeout-error occurs if no packet could be read. Defaults to 10000.
+        timeOut;
     end
     
-    properties (Access = 'protected')
-        % connection handle
+    properties (Access = protected)
+        % handle: Connection handle to the device
         handle
     end 
     
     methods
         function brickIO = usbBrickIO(varargin)
-            %usbBrickIO.usbBrickIO Create a usbBrickIO object
+            % Create an usbBrickIO object 
+            %
+            % Arguments:
+            %     varargin: Any number of property names as strings, each followed by the
+            %         desired value. 
+            %
+            % Examples: 
+            %    % Connecting via USB 
+            %    commHandle = usbBrickIO();
+            %    % Connecting via USB with enabled debug output
+            %    commHandle = usbBrickIO('debug', true);
             %
-            % usbbrick = usbBrickIO(varargin) is an object which
-            % initialises a usb connection between MATLAB and the brick
-            % using hidapi.m.
-            % 
-            % Notes::
-            % - Can take one parameter debug which is a flag specifying
-            % output printing (0 or 1).
+            % See also USBBRICKIO.SETPROPERTIES
             
-            if nargin == 0
-                brickIO.debug = 0;
-            else
-                brickIO.debug = varargin{1}; 
-            end
+            brickIO.setProperties(varargin{:});
             
             if brickIO.debug > 0
                 fprintf('(DEBUG) (USB init)\n');
             end
             
-            % Create the usb handle
+            % Set the connection handle
             try
-                brickIO.handle = hidapi(0,brickIO.vendorID,brickIO.productID, ...
+                brickIO.handle = hidapi(brickIO.vendorID,brickIO.productID, ...
                                         brickIO.nReadBuffer,brickIO.nWriteBuffer);
             catch ME
                 if ~isempty(strfind(ME.identifier, 'InvalidParameterOrFileMissing'))
@@ -84,19 +96,18 @@ classdef usbBrickIO < BrickIO
                 end
             end
                                 
-            % Open the brick IO connection
+            % Open the connection
             brickIO.open;
         end
         
         function delete(brickIO)
-            %usbBrickIO.delete Delete the usbBrickIO object
-            %
-            % delete(brickIO) closes the usb connection handle
+            % Delete the usbBrickIO object and closes the connection
             
             if brickIO.debug > 0
                 fprintf('(DEBUG) (USB delete)\n');
             end
             
+            % Disconnect
             try
                 brickIO.close;
             catch
@@ -105,16 +116,13 @@ classdef usbBrickIO < BrickIO
         end
         
         function open(brickIO)
-            %usbBrickIO.open Open the usbBrickIO object
-            %
-            % usbBrickIO.open() opens the usb handle through the hidapi
-            % interface.
+            % Opens the usb connection to the brick through the hidapi interface.
             
             if brickIO.debug > 0
                 fprintf('(DEBUG) (USB open)\n');
             end
             
-            % Open the usb handle (MMI: and handle possible errors)
+            % Open the usb handle 
             try
                 brickIO.handle.open;
             catch ME
@@ -135,10 +143,8 @@ classdef usbBrickIO < BrickIO
         end
         
         function close(brickIO)
-            %usbBrickIO.close Close the usbBrickIO object
-            %
-            % usbBrickIO.close() closes the usb handle through the hidapi
-            % interface.
+            % Closes the usb connection the brick through the hidapi interface.
+            
             if brickIO.debug > 0
                 fprintf('(DEBUG) (USB close) \n');
             end 
@@ -157,14 +163,7 @@ classdef usbBrickIO < BrickIO
         end
         
         function rmsg = read(brickIO)
-            %usbBrickIO.read Read data from the usbBrickIO object
-            %
-            % rmsg = usbBrickIO.read() reads data from the brick through
-            % usb and returns the data in uint8 format.
-            %
-            % Notes::
-            % - This function is blocking with no time out in the current
-            % implementation.
+            % Reads data from the brick through usb using the hidapi interface and returns the data in uint8 format.
             
             if brickIO.debug > 0
                 fprintf('(DEBUG) (USB read)   ');
@@ -208,13 +207,10 @@ classdef usbBrickIO < BrickIO
         end
         
         function write(brickIO,wmsg)
-            %usbBrickIO.write Write data to the usbBrickIO object
-            %
-            % usbBrickIO.write(wmsg) writes data to the brick through usb.
+            % Writes data to the brick through usb using the hidapi interface.
             %
-            % Notes::
-            % - wmsg is the data to be written to the brick via usb in  
-            % uint8 format.
+            % Arguments:
+            %     wmsg (uint8 array): Data to be written to the brick via usb
             
             if brickIO.debug > 0
                 fprintf('(DEBUG) (USB write)  ');
@@ -252,5 +248,33 @@ classdef usbBrickIO < BrickIO
             
             brickIO.timeOut = timeOut*1000;
         end 
+        function setProperties(brickIO, varargin)
+            % Sets multiple usbBrickIO properties at once using MATLAB's inputParser.
+            %
+            % The syntax is as follows: commHandle.setProperties('propertyName1',
+            % propertyValue1, 'propertyName2', propertyValue2, ...). Valid, optional properties
+            % are: debug, vendorID, productID, nReadBuffer, nWriteBuffer, timeOut.
+            %
+            % See also USBBRICKIO.DEBUG, USBBRICKIO.VENDORID, USBBRICKIO.PRODUCTID,
+            % USBBRICKIO.NREADBUFFER, USBBRICKIO.NWRITEBUFFER, USBBRICKIO.TIMEOUT
+            
+            p = inputParser();
+            
+            p.addOptional('debug', false);
+            p.addOptional('vendorID', 1684);
+            p.addOptional('productID', 5);
+            p.addOptional('nReadBuffer', 1024);
+            p.addOptional('nWriteBuffer', 1025);
+            p.addOptional('timeOut', 10000);
+            
+            p.parse(varargin{:});
+            
+            brickIO.debug = p.Results.debug;
+            brickIO.vendorID = p.Results.vendorID;
+            brickIO.productID = p.Results.productID;
+            brickIO.nReadBuffer = p.Results.nReadBuffer;
+            brickIO.nWriteBuffer = p.Results.nWriteBuffer;
+            brickIO.timeOut = p.Results.timeOut;
+        end
     end 
 end
-- 
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