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+# "Lego Mindstorms EV3" MATLAB Toolbox
+
+Hello, fellow LEGO constructors and MATLAB programmers, welcome to the RWTH - Mindstorms 
+EV3 Toolbox for MATLAB! 
+This toolbox was designed to abstract and simplify controlling LEGO MINDSTORMS EV3 
+robots using MATLAB. Via Bluetooth or USB you can read sensor values or control 
+your robots’ motors in an intuitive way. You can choose whether to strictly
+follow the EV3's firmware specification by sending commands directly, or operate 
+on a higher level, using a complete virtualized EV3, including Motor and Sensor 
+classes. 
+
+This toolbox is being developed at the RWTH Aachen, Germany, and it is the follow-up
+of the [http://www.mindstorms.rwth-aachen.de/(]RWTH MATLAB NXT Toolbox).
+
+To get started, take a look at the installation instructions and examples. 
+
+
+## Prerequisites ## 
+If you use Windows, you will need to have the Instrument Control Toolbox installed
+for USB to work properly. 
+
+This toolbox has been developed and tested on MATLAB 2014a/2016a, on Windows 7/10 
+and Ubuntu 14.04/16.04. If you encounter problems using other configurations, feel free to 
+contact us.
+
+The EV3's firmware version needs to be updated to 1.09, bugs and unsuspected behaviour
+has been encountered when using older versions. 
+
+## Installation ##
+In most cases, you will only need to download the toolbox and add it's path to your
+MATLAB search path. ('Set path' -> 'Add with subfolders')
+
+You can skip the next part and proceed to the first example to test if everything works 
+fine. 
+
+If you use a Linux system and connecting via Bluetooth does not work,
+you can try to manually install the *HIDAPI*, an API for communication with
+HID devices, which this toolbox uses for Bluetooth connection on Linux - a prebuilt 
+version is delivered with the toolbox. HIDAPI can be installed using the [https://packages.ubuntu.com/de/source/trusty/hidapi/](official
+repositories of your distribution) or [https://github.com/signal11/hidapi/](built) 
+on your own.
+
+
+## Examples ##
+Before you can try out the following example, you will need to have your EV3
+connected to your PC via Bluetooth or USB. If you use a Linux system and want
+to try out Bluetooth, we suggest you use the 'btconnect'-script you find
+in 'Tools'. It is a command line script which should facilitate pairing with the
+brick. The syntax is 'btconnect *brickName*' (you can read the 
+name your EV3 at the top of its display - it should be *EV3* by default).
+
+```
+% This example expects a motor at port A and a (random) sensor at port 1
+b = EV3();
+b.connect('usb'); % OR: b.connect('bt');
+ma = b.motorA;
+ma.setProperties('power', 50, 'limitValue', 720);
+ma.start();
+% fun
+ma.waitFor();
+disp(b.sensor1.value);
+b.beep();
+b.disconnect();
+```
+You can find more info on the toolbox functions/classes either by using *help functionname/classname*
+and *doc functionname/classname*, or in the generated PDF/HTML documentation (in *docs*).
+
+## Contribution ##
+TODO
+
+### Building the documentation ###
+
+