From edd3fca9cf6dcd0058fdca5cb6f25dbb4327e497 Mon Sep 17 00:00:00 2001
From: Tim Stadtmann <tim.stadtmann@rwth-aachen.de>
Date: Thu, 8 Dec 2016 16:52:36 +0100
Subject: [PATCH] Fix some format-errors

---
 docs/_build/doctrees/environment.pickle | Bin 11860 -> 11862 bytes
 docs/_build/doctrees/index.doctree      | Bin 5491 -> 5486 bytes
 docs/_build/doctrees/source.doctree     | Bin 137127 -> 148422 bytes
 docs/_build/html/.buildinfo             |   2 +-
 docs/_build/html/_static/classic.css    | 261 ------------------------
 docs/_build/html/_static/sidebar.js     | 159 ---------------
 docs/_build/html/genindex.html          |   8 +-
 docs/_build/html/index.html             |   8 +-
 docs/_build/html/mat-modindex.html      |   8 +-
 docs/_build/html/search.html            |   8 +-
 docs/_build/html/searchindex.js         |   2 +-
 docs/_build/html/source.html            | 191 +++++++++--------
 source/EV3.m                            |  81 ++++----
 source/Motor.m                          | 106 +++++-----
 source/Sensor.m                         |  25 +--
 15 files changed, 225 insertions(+), 634 deletions(-)
 delete mode 100644 docs/_build/html/_static/classic.css
 delete mode 100644 docs/_build/html/_static/sidebar.js

diff --git a/docs/_build/doctrees/environment.pickle b/docs/_build/doctrees/environment.pickle
index 5735dcf80a71c2365ffd47517bdb5e571de346bb..e56d919a441a01cbdbdc80497432168f82f7d9ab 100644
GIT binary patch
delta 424
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delta 430
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diff --git a/docs/_build/doctrees/index.doctree b/docs/_build/doctrees/index.doctree
index 0ebe889d45e55126288b2320d4eb6020a3d3f897..c924e02b3bc5de706158cadc046dae93df3b0221 100644
GIT binary patch
delta 164
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delta 145
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diff --git a/docs/_build/doctrees/source.doctree b/docs/_build/doctrees/source.doctree
index 8317ff31f25ef3b5725b91032f5ee4c5958c900c..834b2bb95a3a4350b02c089f95862be7b89c06ea 100644
GIT binary patch
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diff --git a/docs/_build/html/.buildinfo b/docs/_build/html/.buildinfo
index 9913e41..33011b8 100644
--- a/docs/_build/html/.buildinfo
+++ b/docs/_build/html/.buildinfo
@@ -1,4 +1,4 @@
 # Sphinx build info version 1
 # This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done.
-config: 70c71ab2619acd6239b5f925f992173b
+config: f6dfea19ce34289726db5c40b01bce0e
 tags: 645f666f9bcd5a90fca523b33c5a78b7
diff --git a/docs/_build/html/_static/classic.css b/docs/_build/html/_static/classic.css
deleted file mode 100644
index d98894b..0000000
--- a/docs/_build/html/_static/classic.css
+++ /dev/null
@@ -1,261 +0,0 @@
-/*
- * default.css_t
- * ~~~~~~~~~~~~~
- *
- * Sphinx stylesheet -- default theme.
- *
- * :copyright: Copyright 2007-2016 by the Sphinx team, see AUTHORS.
- * :license: BSD, see LICENSE for details.
- *
- */
-
-@import url("basic.css");
-
-/* -- page layout ----------------------------------------------------------- */
-
-body {
-    font-family: sans-serif;
-    font-size: 100%;
-    background-color: #11303d;
-    color: #000;
-    margin: 0;
-    padding: 0;
-}
-
-div.document {
-    background-color: #1c4e63;
-}
-
-div.documentwrapper {
-    float: left;
-    width: 100%;
-}
-
-div.bodywrapper {
-    margin: 0 0 0 230px;
-}
-
-div.body {
-    background-color: #ffffff;
-    color: #000000;
-    padding: 0 20px 30px 20px;
-}
-
-div.footer {
-    color: #ffffff;
-    width: 100%;
-    padding: 9px 0 9px 0;
-    text-align: center;
-    font-size: 75%;
-}
-
-div.footer a {
-    color: #ffffff;
-    text-decoration: underline;
-}
-
-div.related {
-    background-color: #133f52;
-    line-height: 30px;
-    color: #ffffff;
-}
-
-div.related a {
-    color: #ffffff;
-}
-
-div.sphinxsidebar {
-}
-
-div.sphinxsidebar h3 {
-    font-family: 'Trebuchet MS', sans-serif;
-    color: #ffffff;
-    font-size: 1.4em;
-    font-weight: normal;
-    margin: 0;
-    padding: 0;
-}
-
-div.sphinxsidebar h3 a {
-    color: #ffffff;
-}
-
-div.sphinxsidebar h4 {
-    font-family: 'Trebuchet MS', sans-serif;
-    color: #ffffff;
-    font-size: 1.3em;
-    font-weight: normal;
-    margin: 5px 0 0 0;
-    padding: 0;
-}
-
-div.sphinxsidebar p {
-    color: #ffffff;
-}
-
-div.sphinxsidebar p.topless {
-    margin: 5px 10px 10px 10px;
-}
-
-div.sphinxsidebar ul {
-    margin: 10px;
-    padding: 0;
-    color: #ffffff;
-}
-
-div.sphinxsidebar a {
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diff --git a/docs/_build/html/_static/sidebar.js b/docs/_build/html/_static/sidebar.js
deleted file mode 100644
index 4282fe9..0000000
--- a/docs/_build/html/_static/sidebar.js
+++ /dev/null
@@ -1,159 +0,0 @@
-/*
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- * .sphinxsidebar contains .sphinxsidebarwrapper.  This script adds
- * in .sphixsidebar, after .sphinxsidebarwrapper, the #sidebarbutton
- * used to collapse and expand the sidebar.
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- * When the sidebar is collapsed the .sphinxsidebarwrapper is hidden
- * and the width of the sidebar and the margin-left of the document
- * are decreased. When the sidebar is expanded the opposite happens.
- * This script saves a per-browser/per-session cookie used to
- * remember the position of the sidebar among the pages.
- * Once the browser is closed the cookie is deleted and the position
- * reset to the default (expanded).
- *
- * :copyright: Copyright 2007-2016 by the Sphinx team, see AUTHORS.
- * :license: BSD, see LICENSE for details.
- *
- */
-
-$(function() {
-  
-  
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-  
-  
-  
-  
-
-  // global elements used by the functions.
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-  // creation, in the add_sidebar_button function
-  var bodywrapper = $('.bodywrapper');
-  var sidebar = $('.sphinxsidebar');
-  var sidebarwrapper = $('.sphinxsidebarwrapper');
-
-  // for some reason, the document has no sidebar; do not run into errors
-  if (!sidebar.length) return;
-
-  // original margin-left of the bodywrapper and width of the sidebar
-  // with the sidebar expanded
-  var bw_margin_expanded = bodywrapper.css('margin-left');
-  var ssb_width_expanded = sidebar.width();
-
-  // margin-left of the bodywrapper and width of the sidebar
-  // with the sidebar collapsed
-  var bw_margin_collapsed = '.8em';
-  var ssb_width_collapsed = '.8em';
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-  // colors used by the current theme
-  var dark_color = $('.related').css('background-color');
-  var light_color = $('.document').css('background-color');
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diff --git a/docs/_build/html/genindex.html b/docs/_build/html/genindex.html
index 3cc2386..55ed792 100644
--- a/docs/_build/html/genindex.html
+++ b/docs/_build/html/genindex.html
@@ -6,7 +6,7 @@
   <head>
     <meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
     
-    <title>Index &#8212; Mindstorms EV3 Toolbox v0.3-rc.6 documentation</title>
+    <title>Index &#8212; Mindstorms EV3 Toolbox v0.3-rc.8 documentation</title>
     
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     <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
@@ -17,7 +17,7 @@
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+        VERSION:     'v0.3-rc.8',
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     <link rel="search" title="Search" href="search.html" />
-    <link rel="top" title="Mindstorms EV3 Toolbox v0.3-rc.6 documentation" href="index.html" />
+    <link rel="top" title="Mindstorms EV3 Toolbox v0.3-rc.8 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'>
@@ -457,7 +457,7 @@
       
     </p>
     <p>
-        &copy; Copyright 2016, Tim Stadtmann.<br/>
+        &copy; Copyright 2016, LfB RWTH-Aachen.<br/>
       Created using <a href="http://sphinx-doc.org/">Sphinx</a> 1.4.8.<br/>
     </p>
   </div>
diff --git a/docs/_build/html/index.html b/docs/_build/html/index.html
index 54063e1..1a77eb3 100644
--- a/docs/_build/html/index.html
+++ b/docs/_build/html/index.html
@@ -5,7 +5,7 @@
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-    <title>Toolbox for controlling Lego Mindstorms EV3 with MATLAB &#8212; Mindstorms EV3 Toolbox v0.3-rc.6 documentation</title>
+    <title>Toolbox for controlling Lego Mindstorms EV3 with MATLAB &#8212; Mindstorms EV3 Toolbox v0.3-rc.8 documentation</title>
     
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@@ -16,7 +16,7 @@
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+        VERSION:     'v0.3-rc.8',
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@@ -31,7 +31,7 @@
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     <link rel="search" title="Search" href="search.html" />
-    <link rel="top" title="Mindstorms EV3 Toolbox v0.3-rc.6 documentation" href="#" />
+    <link rel="top" title="Mindstorms EV3 Toolbox v0.3-rc.8 documentation" href="#" />
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 <meta charset='utf-8'>
 <meta http-equiv='X-UA-Compatible' content='IE=edge,chrome=1'>
@@ -161,7 +161,7 @@
       
     </p>
     <p>
-        &copy; Copyright 2016, Tim Stadtmann.<br/>
+        &copy; Copyright 2016, LfB RWTH-Aachen.<br/>
       Created using <a href="http://sphinx-doc.org/">Sphinx</a> 1.4.8.<br/>
     </p>
   </div>
diff --git a/docs/_build/html/mat-modindex.html b/docs/_build/html/mat-modindex.html
index d450e57..60f8734 100644
--- a/docs/_build/html/mat-modindex.html
+++ b/docs/_build/html/mat-modindex.html
@@ -5,7 +5,7 @@
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     <meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
     
-    <title>MATLAB Module Index &#8212; Mindstorms EV3 Toolbox v0.3-rc.6 documentation</title>
+    <title>MATLAB Module Index &#8212; Mindstorms EV3 Toolbox v0.3-rc.8 documentation</title>
     
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     <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
@@ -16,7 +16,7 @@
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+        VERSION:     'v0.3-rc.8',
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@@ -31,7 +31,7 @@
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     <link rel="index" title="Index" href="genindex.html" />
     <link rel="search" title="Search" href="search.html" />
-    <link rel="top" title="Mindstorms EV3 Toolbox v0.3-rc.6 documentation" href="index.html" />
+    <link rel="top" title="Mindstorms EV3 Toolbox v0.3-rc.8 documentation" href="index.html" />
 
 <meta charset='utf-8'>
 <meta http-equiv='X-UA-Compatible' content='IE=edge,chrome=1'>
@@ -153,7 +153,7 @@
       
     </p>
     <p>
-        &copy; Copyright 2016, Tim Stadtmann.<br/>
+        &copy; Copyright 2016, LfB RWTH-Aachen.<br/>
       Created using <a href="http://sphinx-doc.org/">Sphinx</a> 1.4.8.<br/>
     </p>
   </div>
diff --git a/docs/_build/html/search.html b/docs/_build/html/search.html
index 934f74f..d283a35 100644
--- a/docs/_build/html/search.html
+++ b/docs/_build/html/search.html
@@ -5,7 +5,7 @@
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     <meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
     
-    <title>Search &#8212; Mindstorms EV3 Toolbox v0.3-rc.6 documentation</title>
+    <title>Search &#8212; Mindstorms EV3 Toolbox v0.3-rc.8 documentation</title>
     
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     <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
@@ -16,7 +16,7 @@
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@@ -32,7 +32,7 @@
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     <link rel="search" title="Search" href="#" />
-    <link rel="top" title="Mindstorms EV3 Toolbox v0.3-rc.6 documentation" href="index.html" />
+    <link rel="top" title="Mindstorms EV3 Toolbox v0.3-rc.8 documentation" href="index.html" />
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     jQuery(function() { Search.loadIndex("searchindex.js"); });
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@@ -158,7 +158,7 @@
       
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     <p>
-        &copy; Copyright 2016, Tim Stadtmann.<br/>
+        &copy; Copyright 2016, LfB RWTH-Aachen.<br/>
       Created using <a href="http://sphinx-doc.org/">Sphinx</a> 1.4.8.<br/>
     </p>
   </div>
diff --git a/docs/_build/html/searchindex.js b/docs/_build/html/searchindex.js
index 505a810..23a17e2 100644
--- a/docs/_build/html/searchindex.js
+++ b/docs/_build/html/searchindex.js
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for controlling Lego Mindstorms EV3 with MATLAB","EV3"],titleterms:{control:0,ev3:[0,1],indice:0,lego:0,matlab:0,mindstorm:0,motor:1,sensor:1,tabl:0,toolbox:0}})
\ No newline at end of file
+Search.setIndex({envversion:49,filenames:["index","source"],objects:{"":{source:[1,0,1,""]},"source.EV3":{batteryMode:[1,2,1,""],batteryValue:[1,2,1,""],beep:[1,3,1,""],connect:[1,3,1,""],debug:[1,2,1,""],disconnect:[1,3,1,""],isConnected:[1,2,1,""],motorA:[1,2,1,""],motorB:[1,2,1,""],motorC:[1,2,1,""],motorD:[1,2,1,""],playTone:[1,3,1,""],sensor1:[1,2,1,""],sensor2:[1,2,1,""],sensor3:[1,2,1,""],sensor4:[1,2,1,""],setProperties:[1,3,1,""],stopAllMotors:[1,3,1,""],stopTone:[1,3,1,""],tonePlayed:[1,3,1,""]},"source.Motor":{brakeMode:[1,2,1,""],currentSpeed:[1,2,1,""],debug:[1,2,1,""],internalReset:[1,3,1,""],isRunning:[1,2,1,""],limitMode:[1,2,1,""],limitValue:[1,2,1,""],power:[1,2,1,""],resetTachoCount:[1,3,1,""],setBrake:[1,3,1,""],setProperties:[1,3,1,""],smoothStart:[1,2,1,""],smoothStop:[1,2,1,""],speedRegulation:[1,2,1,""],start:[1,3,1,""],stop:[1,3,1,""],syncedStart:[1,3,1,""],syncedStop:[1,3,1,""],tachoCount:[1,2,1,""],type:[1,2,1,""],waitFor:[1,3,1,""]},"source.Sensor":{debug:[1,2,1,""],mode:[1,2,1,""],reset:[1,3,1,""],setProperties:[1,3,1,""],type:[1,2,1,""],value:[1,2,1,""]},source:{EV3:[1,1,1,""],Motor:[1,1,1,""],Sensor:[1,1,1,""]}},objnames:{"0":["mat","module","MATLAB module"],"1":["mat","class","MATLAB class"],"2":["mat","attribute","MATLAB attribute"],"3":["mat","method","MATLAB method"]},objtypes:{"0":"mat:module","1":"mat:class","2":"mat:attribute","3":"mat:method"},terms:{"5000hz":1,"case":1,"catch":1,"class":1,"default":1,"function":1,"long":1,"return":1,"true":1,"try":1,"while":1,about:1,acceler:1,accident:1,act:1,actual:1,affect:1,afraid:1,after:1,again:1,all:1,allow:1,alreadi:1,also:1,alternatingli:1,ambient:1,angular:1,ani:1,anoth:1,apply:1,aren:1,around:1,ask:1,automat:1,avail:1,avoid:1,batteri:1,batterymod:1,batterymode:1,batteryvalu:1,been:1,beep:1,befor:1,behav:1,behaviour:1,better:1,bit:1,bluetooth:1,bool:1,both:1,brake:1,brakemod:1,brick:1,bug:1,buggi:1,bump:1,c_output:1,call:1,can:1,cannot:1,central:1,chang:1,charg:1,check:1,clear:1,coast:1,code:1,col:1,color:1,com:1,comm:1,command:1,comment:1,commun:1,confus:1,connect:1,connectiontyp:1,consist:1,consol:1,constantli:1,content:0,continu:1,conveni:1,correctli:1,count:1,counter:1,cours:1,creat:1,current:1,currentspe:1,debug:1,defin:1,degre:1,delet:1,deliber:1,deliv:1,depend:1,descript:[],desir:1,destroi:1,dev:1,devic:1,devicemod:1,devicetyp:1,differ:1,direct:1,disconnect:1,distcm:1,distin:1,doe:1,doesn:1,don:1,done:1,down:1,durat:1,each:1,eas:1,effect:1,either:1,enabl:1,equal:1,error:1,establish:1,even:1,everytim:1,exampl:1,excerpt:1,execut:1,exit:1,expect:1,facilit:1,fals:1,far:1,feedback:1,finish:1,firmwar:1,first:1,follow:1,forward:1,four:1,frequenc:1,from:1,fun:1,get:1,given:1,glanc:1,goe:1,greater:1,gyro:1,happen:1,have:1,heavi:1,hertz:1,high:1,highest:1,hold:1,how:1,howev:1,hysic:1,immedi:1,index:0,indic:1,individu:1,infinit:1,infrare:1,input:1,inputpars:1,instanc:1,instead:1,interfac:1,intern:1,internalreset:1,interpret:1,isconnect:1,isrun:1,iter:1,itself:1,keep:1,kind:1,know:1,largemotor:1,last:1,later:1,layer:1,lead:1,left:1,less:1,level:1,like:1,limit:1,limitmod:1,limitvalu:1,listen:1,load:1,loop:1,low:1,lower:1,mai:1,mainli:1,make:1,manual:1,master:1,mean:1,mediummotor:1,messag:1,method:1,millisecond:1,mind:1,mode:1,modul:0,mostli:1,motor:[],motora:1,motorb:1,motorc:1,motord:1,move:1,multipl:1,name:1,necessari:1,need:1,neg:1,none:1,note:1,now:1,numer:1,nxtcolor:1,nxtlight:1,nxtsound:1,nxttemperatur:1,nxttouch:1,nxtultrason:1,object:1,off:1,old:1,onc:1,once:1,onli:1,only:1,opcod:1,opposit:1,optional:1,other:1,otherwis:1,output:1,outputreadi:1,outputtest:1,packet:1,page:0,paramet:1,pass:1,path:1,paus:1,percent:1,percentag:1,physic:1,plai:1,playton:1,point:1,poll:1,port:1,posit:1,possibl:1,power:1,pretti:1,previous:1,print:1,probabl:1,program:1,properti:1,pull:1,push:1,rais:1,rate:1,ratio:1,reach:1,read:1,realli:1,reason:1,receiv:1,reflect:1,regul:1,releas:1,repli:1,repres:1,request:1,reset:1,resetposit:1,resettachocount:1,respect:1,respons:1,result:1,rfcomm0:1,rfcomm1:1,rfcomm2:1,right:1,run:1,same:1,search:0,second:1,secur:1,see:1,seem:1,send:1,sensor1:1,sensor2:1,sensor3:1,sensor4:1,sensor:[],sent:1,serial:1,serport:1,set:1,setbrak:1,setpow:1,setproperti:1,setup:1,should:1,slave:1,slow:1,slowli:1,smoothli:1,smoothstart:1,smoothstop:1,some:1,sometim:1,somewhat:1,soon:1,sooner:1,sourc:1,special:1,specifi:1,speed:1,speedregul:1,spin:1,start:1,state:1,statu:1,stop:1,stopallmotor:1,stopton:1,straight:1,string:1,stuff:1,sublay:1,suppos:1,sync:1,syncedstart:1,syncedstop:1,synchron:1,syncmotor:1,tacho:1,tachocount:1,tacholimit:1,take:1,test:1,than:1,them:1,thi:1,thoroughli:1,tight:1,time:1,timeout:1,tone:1,toneplai:1,too:1,touch:1,tricki:1,turn:1,turn_ratio:[],turnratio:1,type:1,ultrason:1,undefin:1,unexpect:1,unknown:1,until:1,usb:1,use:1,user:1,valu:1,varargin:1,via:1,view:1,virtual:1,voltag:1,volum:1,waitfor:1,want:1,wast:1,weird:1,what:1,whatev:1,when:1,which:1,without:1,work:1,workaround:1,would:1,wrap:1,writable:1,wrong:1,yet:1,you:1,zero:1},titles:["Toolbox for controlling Lego Mindstorms EV3 with MATLAB","EV3"],titleterms:{control:0,ev3:[0,1],indice:0,lego:0,matlab:0,mindstorm:0,motor:1,sensor:1,tabl:0,toolbox:0}})
\ No newline at end of file
diff --git a/docs/_build/html/source.html b/docs/_build/html/source.html
index 034dfb7..f88c5c1 100644
--- a/docs/_build/html/source.html
+++ b/docs/_build/html/source.html
@@ -5,7 +5,7 @@
   <head>
     <meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
     
-    <title>EV3 &#8212; Mindstorms EV3 Toolbox v0.3-rc.6 documentation</title>
+    <title>EV3 &#8212; Mindstorms EV3 Toolbox v0.3-rc.8 documentation</title>
     
     <link rel="stylesheet" href="_static/basic.css" type="text/css" />
     <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
@@ -16,7 +16,7 @@
     <script type="text/javascript">
       var DOCUMENTATION_OPTIONS = {
         URL_ROOT:    './',
-        VERSION:     'v0.3-rc.6',
+        VERSION:     'v0.3-rc.8',
         COLLAPSE_INDEX: false,
         FILE_SUFFIX: '.html',
         HAS_SOURCE:  true
@@ -31,7 +31,7 @@
     <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 v0.3-rc.6 documentation" href="index.html" />
+    <link rel="top" title="Mindstorms EV3 Toolbox v0.3-rc.8 documentation" href="index.html" />
     <link rel="prev" title="Toolbox for controlling Lego Mindstorms EV3 with MATLAB" href="index.html" />
 <meta charset='utf-8'>
 <meta http-equiv='X-UA-Compatible' content='IE=edge,chrome=1'>
@@ -195,11 +195,11 @@ been thoroughly tested yet, but seems to work on a first glance.</li>
 <dl class="attribute">
 <dt id="source.EV3.debug">
 <code class="descname">debug</code><a class="headerlink" href="#source.EV3.debug" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>numeric in {0,1,2}</em> &#8211; Debug mode. [<strong>WRITABLE</strong>]</p>
+<dd><p><em>numeric in {0,1,2}</em> &#8211; Debug mode. <em>[WRITABLE]</em></p>
 <ul class="simple">
 <li>0: Debug turned off</li>
 <li>1: Debug turned on for EV3-object -&gt; enables feedback in the console about what firmware-commands have been called when using a method</li>
-<li>2: Low-level-Debug turned on - each packet sent and received is printed to the console</li>
+<li>2: Low-level-Debug turned on -&gt; each packet sent and received is printed to the console</li>
 </ul>
 </dd></dl>
 
@@ -207,29 +207,32 @@ been thoroughly tested yet, but seems to work on a first glance.</li>
 <dt id="source.EV3.batteryMode">
 <code class="descname">batteryMode</code><a class="headerlink" href="#source.EV3.batteryMode" title="Permalink to this definition">¶</a></dt>
 <dd><p><em>string in {&#8216;Percentage&#8217;, &#8216;Voltage&#8217;}</em> &#8211; Mode for reading battery charge.
-[<strong>WRITABLE</strong>]</p>
+<em>[WRITABLE]</em></p>
 </dd></dl>
 
 <dl class="attribute">
 <dt id="source.EV3.batteryValue">
 <code class="descname">batteryValue</code><a class="headerlink" href="#source.EV3.batteryValue" title="Permalink to this definition">¶</a></dt>
 <dd><p><em>numeric</em> &#8211; Current battery charge. Depending on batteryMode, the reading
-is either in percentage or voltage. [<strong>READ-ONLY</strong>]</p>
+is either in percentage or voltage. <em>[READ-ONLY]</em></p>
 </dd></dl>
 
 <dl class="attribute">
 <dt id="source.EV3.isConnected">
 <code class="descname">isConnected</code><a class="headerlink" href="#source.EV3.isConnected" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>bool</em> &#8211; True if virtual brick-object is connected to physical one. [<strong>READ-ONLY</strong>]</p>
+<dd><p><em>bool</em> &#8211; True if virtual brick-object is connected to physical one. <em>[READ-ONLY]</em></p>
 </dd></dl>
 
 <p class="rubric">Examples</p>
 <p>b = EV3(); <br />
 b.connect(&#8216;usb&#8217;); <br />
 ma = b.motorA; <br />
+ma.setProperties(&#8216;power&#8217;, 50, &#8216;limitValue&#8217;, 720); <br />
 ma.start(); <br />
 % fun <br />
-ma.stop(); <br />
+b.sensor1.value <br />
+b.waitFor(); <br />
+b.beep(); <br />
 delete b; <br /></p>
 <dl class="method">
 <dt id="source.EV3.beep">
@@ -240,9 +243,9 @@ delete b; <br /></p>
 <li>This equals playTone(10, 1000, 100) (Wraps the same opCode in comm-layer)</li>
 </ul>
 <p class="rubric">Example</p>
-<p>b = EV3();
-b.connect(&#8216;bt&#8217;, &#8216;serPort&#8217;, &#8216;/dev/rfcomm0&#8217;);
-b.beep();</p>
+<p>b = EV3(); <br />
+b.connect(&#8216;bt&#8217;, &#8216;serPort&#8217;, &#8216;/dev/rfcomm0&#8217;); <br />
+b.beep(); <br /></p>
 </dd></dl>
 
 <dl class="method">
@@ -255,7 +258,7 @@ b.beep();</p>
 <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>connectionType</strong> (<em>string in {'bt', 'usb'}</em>) &#8211; Connection type</li>
-<li><strong>serPort</strong> (<em>string {'/dev/rfcomm1', '/dev/rfcomm2', ...}</em>) &#8211; Path to serial port
+<li><strong>serPort</strong> (<em>string in {'/dev/rfcomm1', '/dev/rfcomm2', ...}</em>) &#8211; Path to serial port
 (if &#8216;bt&#8217;)</li>
 <li><strong>beep</strong> (<em>bool</em>) &#8211; If true, EV3 beeps if connection has been established</li>
 </ul>
@@ -264,8 +267,12 @@ b.beep();</p>
 </tbody>
 </table>
 <p class="rubric">Examples</p>
-<p>b = EV3(); b.connect(&#8216;bt&#8217;, &#8216;serPort&#8217;, &#8216;/dev/rfcomm0&#8217;);
-b = EV3(); b.connect(&#8216;usb&#8217;, &#8216;beep&#8217;, &#8216;on&#8217;, );</p>
+<p>% Setup bluetooth connection via com-port 0 <br />
+b = EV3(); <br />
+b.connect(&#8216;bt&#8217;, &#8216;serPort&#8217;, &#8216;/dev/rfcomm0&#8217;); <br />
+% Setup usb connection, beep when connection has been established
+b = EV3(); <br />
+b.connect(&#8216;usb&#8217;, &#8216;beep&#8217;, &#8216;on&#8217;, ); <br /></p>
 <p>Check connection</p>
 </dd></dl>
 
@@ -294,8 +301,8 @@ b.disconnect();</p>
 <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>volume</strong> (<em>numeric in [0, 100]</em>) &#8211; </li>
-<li><strong>frequency</strong> (<em>numeric in [250, 10000]</em>) &#8211; </li>
+<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>
 </ul>
 </td>
@@ -303,11 +310,10 @@ b.disconnect();</p>
 </tbody>
 </table>
 <p class="rubric">Example</p>
-<p>b = EV3();
-b.connect(&#8216;bt&#8217;, &#8216;serPort&#8217;, &#8216;/dev/rfcomm0&#8217;);
-b.playTone(50, 5000, 1000);  % Plays tone with 50% volume and 5000Hz for 1</p>
-<blockquote>
-<div>% second.</div></blockquote>
+<p>b = EV3(); <br />
+b.connect(&#8216;bt&#8217;, &#8216;serPort&#8217;, &#8216;/dev/rfcomm0&#8217;); <br />
+b.playTone(50, 5000, 1000);  % Plays tone with 50% volume and 5000Hz for 1
+second. <br /></p>
 </dd></dl>
 
 <dl class="method">
@@ -319,18 +325,18 @@ b.playTone(50, 5000, 1000);  % Plays tone with 50% volume and 5000Hz for 1</p>
 <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>debug</strong> (<em>numeric in {0,1,2}</em>) &#8211; see EV3.debug</li>
-<li><strong>batteryMode</strong> (<em>string in {'Voltage'/'Percentage'}</em>) &#8211; see EV3.batteryMode</li>
+<li><strong>debug</strong> (<em>numeric in {0,1,2}</em>) &#8211; see EV3.debug <em>[OPTIONAL]</em></li>
+<li><strong>batteryMode</strong> (<em>string in {'Voltage'/'Percentage'}</em>) &#8211; see EV3.batteryMode <em>[OPTIONAL]</em></li>
 </ul>
 </td>
 </tr>
 </tbody>
 </table>
 <p class="rubric">Example</p>
-<p>b = EV3();
-b.connect(&#8216;bt&#8217;, &#8216;serPort&#8217;, &#8216;/dev/rfcomm0&#8217;);
-b.setProperties(&#8216;debug&#8217;, &#8216;on&#8217;, &#8216;batteryMode&#8217;, &#8216;Voltage&#8217;);
-% Instead of: b.debug = &#8216;on&#8217;; b.batteryMode = &#8216;Voltage&#8217;;</p>
+<p>b = EV3(); <br />
+b.connect(&#8216;bt&#8217;, &#8216;serPort&#8217;, &#8216;/dev/rfcomm0&#8217;); <br />
+b.setProperties(&#8216;debug&#8217;, &#8216;on&#8217;, &#8216;batteryMode&#8217;, &#8216;Voltage&#8217;); <br />
+% Instead of: b.debug = &#8216;on&#8217;; b.batteryMode = &#8216;Voltage&#8217;; <br /></p>
 <p>See also EV3.DEBUG, EV3.BATTERYMODE</p>
 </dd></dl>
 
@@ -345,10 +351,10 @@ b.setProperties(&#8216;debug&#8217;, &#8216;on&#8217;, &#8216;batteryMode&#8217;
 <code class="descname">stopTone</code><span class="sig-paren">(</span><em>ev3</em><span class="sig-paren">)</span><a class="headerlink" href="#source.EV3.stopTone" title="Permalink to this definition">¶</a></dt>
 <dd><p>Stops tone currently played</p>
 <p class="rubric">Example</p>
-<p>b = EV3();
-b.connect(&#8216;bt&#8217;, &#8216;serPort&#8217;, &#8216;/dev/rfcomm0&#8217;);
-b.playTone(10,100,100000000);  % Accidentally given wrong tone duration.
-b.stopTone();  % Stops tone immediately.</p>
+<p>b = EV3(); <br />
+b.connect(&#8216;bt&#8217;, &#8216;serPort&#8217;, &#8216;/dev/rfcomm0&#8217;); <br />
+b.playTone(10,100,100000000);  % Accidentally given wrong tone duration :) <br />
+b.stopTone();  % Stops tone immediately. <br /></p>
 </dd></dl>
 
 <dl class="method">
@@ -367,11 +373,11 @@ b.stopTone();  % Stops tone immediately.</p>
 </table>
 <dl class="docutils">
 <dt>Example</dt>
-<dd>b = EV3();
-b.connect(&#8216;bt&#8217;, &#8216;serPort&#8217;, &#8216;/dev/rfcomm0&#8217;);
-b.playTone(10, 100, 1000);
-pause(0.5);
-b.tonePlayed() -&gt; Outputs 1 to console.</dd>
+<dd>b = EV3(); <br />
+b.connect(&#8216;bt&#8217;, &#8216;serPort&#8217;, &#8216;/dev/rfcomm0&#8217;); <br />
+b.playTone(10, 100, 1000); <br />
+pause(0.5); <br />
+b.tonePlayed() -&gt; Outputs 1 to console. <br /></dd>
 </dl>
 </dd></dl>
 
@@ -396,7 +402,7 @@ instances for each motor port, and you can work with them via the EV3-object.</l
 <dl class="attribute">
 <dt id="source.Motor.power">
 <code class="descname">power</code><a class="headerlink" href="#source.Motor.power" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>numeric in [-100, 100]</em> &#8211; Power level of motor in percent. [WRITABLE]</p>
+<dd><p><em>numeric in [-100, 100]</em> &#8211; Power level of motor in percent. <em>[WRITABLE]</em></p>
 </dd></dl>
 
 <dl class="attribute">
@@ -407,7 +413,7 @@ try to &#8216;hold&#8217; its speed at given power level, whatever the load. In
 highest possible speed depends on the load and mostly goes up to around 70-80 (at
 this point, the Brick internally input 100% power). When turned off, motor will
 constantly input the same power into the motor. The resulting speed will be
-somewhat lower, depending on the load. [WRITABLE]</p>
+somewhat lower, depending on the load. <em>[WRITABLE]</em></p>
 </dd></dl>
 
 <dl class="attribute">
@@ -417,7 +423,7 @@ somewhat lower, depending on the load. [WRITABLE]</p>
 indicating how far/long the motor should smoothly start. Depending on limitMode,
 the input is interpreted either in degrees or milliseconds. The first
 {smoothStart}-milliseconds/degrees of limitValue the motor will slowly accelerate
-until reaching its defined speed. [WRITABLE]</p>
+until reaching its defined speed. <em>[WRITABLE]</em></p>
 </dd></dl>
 
 <dl class="attribute">
@@ -427,7 +433,7 @@ until reaching its defined speed. [WRITABLE]</p>
 indicating how far/long the motor should smoothly stop. Depending on limitMode, the
 input is interpreted either in degrees or milliseconds. The last
 [smoothStop]-milliseconds/degrees of limitValue the motor will slowly slow down
-until it has stopped. [WRITABLE]</p>
+until it has stopped. <em>[WRITABLE]</em></p>
 </dd></dl>
 
 <dl class="attribute">
@@ -435,13 +441,13 @@ until it has stopped. [WRITABLE]</p>
 <code class="descname">limitValue</code><a class="headerlink" href="#source.Motor.limitValue" title="Permalink to this definition">¶</a></dt>
 <dd><p><em>numeric&gt;=0</em> &#8211; Degrees/Time indicating how far/long the motor should run.
 Depending on limitMode, the input is interpreted either in degrees or
-milliseconds. [WRITABLE]</p>
+milliseconds. <em>[WRITABLE]</em></p>
 </dd></dl>
 
 <dl class="attribute">
 <dt id="source.Motor.limitMode">
 <code class="descname">limitMode</code><a class="headerlink" href="#source.Motor.limitMode" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>&#8216;Tacho&#8217;|&#8217;Time&#8217;</em> &#8211; Mode for motor limit. [WRITABLE]</p>
+<dd><p><em>&#8216;Tacho&#8217;|&#8217;Time&#8217;</em> &#8211; Mode for motor limit. <em>[WRITABLE]</em></p>
 </dd></dl>
 
 <dl class="attribute">
@@ -449,7 +455,7 @@ milliseconds. [WRITABLE]</p>
 <code class="descname">brakeMode</code><a class="headerlink" href="#source.Motor.brakeMode" title="Permalink to this definition">¶</a></dt>
 <dd><p><em>&#8216;Brake&#8217;|&#8217;Coast&#8217;</em> &#8211; Mode for braking. If &#8216;Coast&#8217;, the motor will (at
 tacholimit, if ~=0) coast to a stop. If &#8216;Brake&#8217;, the motor will stop immediately
-(at tacholimit, if ~=0) and hold the brake. [WRITABLE]</p>
+(at tacholimit, if ~=0) and hold the brake. <em>[WRITABLE]</em></p>
 </dd></dl>
 
 <dl class="attribute">
@@ -457,32 +463,32 @@ tacholimit, if ~=0) coast to a stop. If &#8216;Brake&#8217;, the motor will stop
 <code class="descname">debug</code><a class="headerlink" href="#source.Motor.debug" title="Permalink to this definition">¶</a></dt>
 <dd><p><em>bool</em> &#8211; Debug turned on or off. In debug mode, everytime a command is passed to
 the sublayer (&#8216;communication layer&#8217;), there is feedback in the console about what
-command has been called. [WRITABLE]</p>
+command has been called. <em>[WRITABLE]</em></p>
 </dd></dl>
 
 <dl class="attribute">
 <dt id="source.Motor.isRunning">
 <code class="descname">isRunning</code><a class="headerlink" href="#source.Motor.isRunning" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>bool</em> &#8211; True if motor is running. [READ-ONLY]</p>
+<dd><p><em>bool</em> &#8211; True if motor is running. <em>[READ-ONLY]</em></p>
 </dd></dl>
 
 <dl class="attribute">
 <dt id="source.Motor.tachoCount">
 <code class="descname">tachoCount</code><a class="headerlink" href="#source.Motor.tachoCount" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>numeric</em> &#8211; Current tacho count. [READ-ONLY]</p>
+<dd><p><em>numeric</em> &#8211; Current tacho count. <em>[READ-ONLY]</em></p>
 </dd></dl>
 
 <dl class="attribute">
 <dt id="source.Motor.currentSpeed">
 <code class="descname">currentSpeed</code><a class="headerlink" href="#source.Motor.currentSpeed" title="Permalink to this definition">¶</a></dt>
 <dd><p><em>numeric</em> &#8211; Current speed of motor. If speedRegulation=on this should equal power,
-otherwise it will probably be lower than that. [READ-ONLY]</p>
+otherwise it will probably be lower than that. <em>[READ-ONLY]</em></p>
 </dd></dl>
 
 <dl class="attribute">
 <dt id="source.Motor.type">
 <code class="descname">type</code><a class="headerlink" href="#source.Motor.type" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>DeviceType</em> &#8211; Type of connected device if any. [READ-ONLY]</p>
+<dd><p><em>DeviceType</em> &#8211; Type of connected device if any. <em>[READ-ONLY]</em></p>
 </dd></dl>
 
 <dl class="method">
@@ -495,6 +501,10 @@ motor is running with a tacho limit, internally it uses another counter than the
 one read by tachoCount. This internal tacho count needs to be reset if you
 physically change the motor&#8217;s position or it coasted into a stop. If the motor&#8217;s
 brakemode is &#8216;Coast&#8217;, this function is called automatically.</p>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>A better name would probably be resetPosition...</li>
+</ul>
 <p>See also MOTOR.RESETTACHOCOUNT</p>
 </dd></dl>
 
@@ -542,13 +552,13 @@ brakemode is &#8216;Coast&#8217;, this function is called automatically.</p>
 </tbody>
 </table>
 <p class="rubric">Example</p>
-<p>b = EV3();
-b.connect(&#8216;bt&#8217;, &#8216;serPort&#8217;, &#8216;/dev/rfcomm0&#8217;);
-b.motorA.setProperties(&#8216;debug&#8217;, &#8216;on&#8217;, &#8216;power&#8217;, 50, &#8216;limitValue&#8217;, 720, &#8216;speedRegulation&#8217;, &#8216;on&#8217;);
-% Instead of: b.motorA.debug = &#8216;on&#8217;;
-%             b.motorA.power = 50;
-%             b.motorA.limitValue = 720;
-%             b.motorA.speedRegulation = &#8216;on&#8217;;</p>
+<p>b = EV3(); <br />
+b.connect(&#8216;bt&#8217;, &#8216;serPort&#8217;, &#8216;/dev/rfcomm0&#8217;); <br />
+b.motorA.setProperties(&#8216;debug&#8217;, &#8216;on&#8217;, &#8216;power&#8217;, 50, &#8216;limitValue&#8217;, 720, &#8216;speedRegulation&#8217;, &#8216;on&#8217;); <br />
+% Instead of: b.motorA.debug = &#8216;on&#8217;; <br />
+%             b.motorA.power = 50; <br />
+%             b.motorA.limitValue = 720; <br />
+%             b.motorA.speedRegulation = &#8216;on&#8217;; <br /></p>
 </dd></dl>
 
 <dl class="method">
@@ -598,8 +608,8 @@ limitValue, speedRegulation</p>
 <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>syncMotor</strong> (<em>Motor</em>) &#8211; the motor-object to sync with</li>
-<li><strong>turnRatio</strong> (<em>numeric in [-200,200]</em>) &#8211; <p>Description of turn_ratio (Excerpt of Firmware-comments, in c_output.c):
-&#8220;Turn ratio is how tight you turn and to what direction you turn. [OPTIONAL]</p>
+<li><strong>turnRatio</strong> (<em>numeric in [-200,200]</em>) &#8211; <p><em>[OPTIONAL]</em> <br /> (Excerpt of Firmware-comments, in c_output.c):
+&#8220;Turn ratio is how tight you turn and to what direction you turn.</p>
 <blockquote>
 <div><ul>
 <li>0 value is moving straight forward</li>
@@ -607,16 +617,8 @@ limitValue, speedRegulation</p>
 <li>Positive values turn to the right</li>
 <li>Value -100 stops the left motor</li>
 <li>Value +100 stops the right motor</li>
-<li><dl class="first docutils">
-<dt>Values less than -100 makes the left motor run the opposite</dt>
-<dd>direction of the right motor (Spin)</dd>
-</dl>
-</li>
-<li><dl class="first docutils">
-<dt>Values greater than +100 makes the right motor run the opposite</dt>
-<dd>direction of the left motor (Spin)&#8221;</dd>
-</dl>
-</li>
+<li>Values less than -100 makes the left motor run the opposite direction of the right motor (Spin)</li>
+<li>Values greater than +100 makes the right motor run the opposite direction of the left motor (Spin)&#8221;</li>
 </ul>
 </div></blockquote>
 </li>
@@ -633,13 +635,14 @@ connected AND aren&#8217;t running, wasting four packets, keep that in mind</li>
 (otherwise the sync-state cannot be exited correctly)</li>
 </ul>
 <p class="rubric">Example</p>
-<p>b = EV3(); b.connect(&#8216;usb&#8217;);
-m = b.motorA;
-slave = b.motorB;
-m.power = 50;
-m.syncedStart(slave);
+<p>b = EV3(); <br />
+b.connect(&#8216;usb&#8217;); <br />
+m = b.motorA; <br />
+slave = b.motorB; <br />
+m.power = 50; <br />
+m.syncedStart(slave); <br />
 % Do stuff
-m.syncedStop();</p>
+m.syncedStop(); <br /></p>
 </dd></dl>
 
 <dl class="method">
@@ -654,26 +657,20 @@ m.syncedStop();</p>
 <code class="descname">waitFor</code><span class="sig-paren">(</span><em>motor</em><span class="sig-paren">)</span><a class="headerlink" href="#source.Motor.waitFor" title="Permalink to this definition">¶</a></dt>
 <dd><p>Stops execution of program as long as motor is running</p>
 <p class="rubric">Notes</p>
-<ul>
-<li><p class="first">(OLD)This one&#8217;s a bit tricky. The opCode OutputReady makes the brick stop sending
+<ul class="simple">
+<li>(OLD)This one&#8217;s a bit tricky. The opCode OutputReady makes the brick stop sending
 responses until the motor has stopped. For security reasons, in this toolbox
 there is an internal timeout for receiving messages from the brick. It raises
 an error if a reply takes too long, which would happen in this case. As a
 workaround, there is an infinite loop that catches errors from outputReady and
-continues then, until outputReady will actually finish without an error.</p>
-</li>
-<li><p class="first">(OLD)OutputReady (like OutputTest in isRunning) sometimes doesn&#8217;t work. If
+continues then, until outputReady will actually finish without an error.</li>
+<li>(OLD)OutputReady (like OutputTest in isRunning) sometimes doesn&#8217;t work. If
 outputReady returns in less than a second, another while-loop iterates until
 the motor has stopped, this time using motor.isRunning() (this only works as
-long as not both OutputTest and OutputReady are buggy).</p>
-</li>
-<li><dl class="first docutils">
-<dt>(OLD)Workaround: Poll isRunning (which itself return (speed&gt;0)) until it is false</dt>
-<dd><p class="first last">(No need to check if motor is connected as speed correctly returns 0 if
-it&#8217;s not)</p>
-</dd>
-</dl>
-</li>
+long as not both OutputTest and OutputReady are buggy).</li>
+<li>(OLD)Workaround: Poll isRunning (which itself return (speed&gt;0)) until it
+is false (No need to check if motor is connected as speed correctly
+returns 0 if it&#8217;s not)</li>
 </ul>
 </dd></dl>
 
@@ -701,7 +698,7 @@ instances for each sensor port, and you can work with them via the EV3-object.</
 mode is set to DeviceMode.Default.Undefined. Once a physical sensor is connected
 to the port <em>and</em> the physical Brick is connected to the EV3-object, the allowed
 mode and the default mode for a Sensor-object are the following (depending on the
-sensor type): [WRITABLE]</p>
+sensor type): <em>[WRITABLE]</em></p>
 <ul>
 <li><dl class="first docutils">
 <dt>Touch-Sensor:</dt>
@@ -749,14 +746,14 @@ sensor type): [WRITABLE]</p>
 <code class="descname">debug</code><a class="headerlink" href="#source.Sensor.debug" title="Permalink to this definition">¶</a></dt>
 <dd><p><em>bool</em> &#8211; Debug turned on or off. In debug mode, everytime a command is passed to
 the sublayer (&#8216;communication layer&#8217;), there is feedback in the console about what
-command has been called. [WRITABLE]</p>
+command has been called. <em>[WRITABLE]</em></p>
 </dd></dl>
 
 <dl class="attribute">
 <dt id="source.Sensor.value">
 <code class="descname">value</code><a class="headerlink" href="#source.Sensor.value" title="Permalink to this definition">¶</a></dt>
 <dd><p><em>numeric</em> &#8211; Value read from hysical sensor. What the value represents depends on
-sensor.mode. [READ-ONLY]</p>
+sensor.mode. <em>[READ-ONLY]</em></p>
 </dd></dl>
 
 <dl class="attribute">
@@ -810,11 +807,11 @@ sensor.mode. [READ-ONLY]</p>
 </tbody>
 </table>
 <p class="rubric">Example</p>
-<p>b = EV3();
-b.connect(&#8216;bt&#8217;, &#8216;serPort&#8217;, &#8216;/dev/rfcomm0&#8217;);
-b.sensor1.setProperties(&#8216;debug&#8217;, &#8216;on&#8217;, &#8216;mode&#8217;, DeviceMode.Color.Ambient);
-% Instead of: b.sensor1.debug = &#8216;on&#8217;;
-%             b.sensor1.mode = DeviceMode.Color.Ambient;</p>
+<p>b = EV3(); <br />
+b.connect(&#8216;bt&#8217;, &#8216;serPort&#8217;, &#8216;/dev/rfcomm0&#8217;); <br />
+b.sensor1.setProperties(&#8216;debug&#8217;, &#8216;on&#8217;, &#8216;mode&#8217;, DeviceMode.Color.Ambient); <br />
+% Instead of: b.sensor1.debug = &#8216;on&#8217;; <br />
+%             b.sensor1.mode = DeviceMode.Color.Ambient; <br /></p>
 </dd></dl>
 
 </dd></dl>
@@ -833,7 +830,7 @@ b.sensor1.setProperties(&#8216;debug&#8217;, &#8216;on&#8217;, &#8216;mode&#8217
       
     </p>
     <p>
-        &copy; Copyright 2016, Tim Stadtmann.<br/>
+        &copy; Copyright 2016, LfB RWTH-Aachen.<br/>
       Created using <a href="http://sphinx-doc.org/">Sphinx</a> 1.4.8.<br/>
     </p>
   </div>
diff --git a/source/EV3.m b/source/EV3.m
index b6cfd73..07e0e39 100755
--- a/source/EV3.m
+++ b/source/EV3.m
@@ -9,6 +9,7 @@ classdef EV3 < MaskedHandle
     %     * Creating multiple EV3 objects and connecting them to different physical bricks has not
     %       been thoroughly tested yet, but seems to work on a first glance.
     %
+    %
     % Attributes:
     %     motorA (Motor): Motor-object interfacing port A
     %     motorB (Motor): Motor-object interfacing port B
@@ -18,25 +19,29 @@ classdef EV3 < MaskedHandle
     %     sensor2 (Sensor): Motor-object interfacing port 2
     %     sensor3 (Sensor): Motor-object interfacing port 3
     %     sensor4 (Sensor): Motor-object interfacing port 4
-    %     debug (numeric in {0,1,2}): Debug mode. [**WRITABLE**]
+    %     debug (numeric in {0,1,2}): Debug mode. *[WRITABLE]*
     %
     %         - 0: Debug turned off
     %         - 1: Debug turned on for EV3-object -> enables feedback in the console about what firmware-commands have been called when using a method
-    %         - 2: Low-level-Debug turned on - each packet sent and received is printed to the console
+    %         - 2: Low-level-Debug turned on -> each packet sent and received is printed to the console
     %
     %     batteryMode (string in {'Percentage', 'Voltage'}): Mode for reading battery charge.
-    %         [**WRITABLE**]
+    %         *[WRITABLE]*
     %     batteryValue (numeric): Current battery charge. Depending on batteryMode, the reading
-    %         is either in percentage or voltage. [**READ-ONLY**]
-    %     isConnected (bool): True if virtual brick-object is connected to physical one. [**READ-ONLY**]
+    %         is either in percentage or voltage. *[READ-ONLY]*
+    %     isConnected (bool): True if virtual brick-object is connected to physical one. *[READ-ONLY]*
+    %
     %
     % Examples:
     %     b = EV3(); |br| 
     %     b.connect('usb'); |br|   
-    %     ma = b.motorA; |br|  
+    %     ma = b.motorA; |br|
+    %     ma.setProperties('power', 50, 'limitValue', 720); |br|
     %     ma.start(); |br|  
     %     % fun |br|
-    %     ma.stop(); |br|  
+    %     b.sensor1.value |br|
+    %     b.waitFor(); |br|
+    %     b.beep(); |br|
     %     delete b; |br|
     
     properties
@@ -56,6 +61,7 @@ classdef EV3 < MaskedHandle
     properties (Dependent)  % Parameters to be read directly from physical brick
         % batteryValue (numeric): Current battery charge. Depending on batteryMode, the reading
         %     is either in percentage or voltage. [READ-ONLY]
+        % See also BATTERYMODE
         batteryValue; 
     end
     
@@ -95,7 +101,6 @@ classdef EV3 < MaskedHandle
         % commInterface (CommunicationInterface): Interface to communication layer
         %     All commands sent to the Brick are created and written through this object. Each
         %     Motor- and Sensor-object has a reference to it.
-        % 
         commInterface = 0;
     end
     
@@ -145,14 +150,18 @@ classdef EV3 < MaskedHandle
             %
             % Arguments:
             %     connectionType (string in {'bt', 'usb'}): Connection type
-            %     serPort (string {'/dev/rfcomm1', '/dev/rfcomm2', ...}): Path to serial port 
+            %     serPort (string in {'/dev/rfcomm1', '/dev/rfcomm2', ...}): Path to serial port 
             %         (if 'bt')
             %     beep (bool): If true, EV3 beeps if connection has been established
             %
             % Examples:
-            %     b = EV3(); b.connect('bt', 'serPort', '/dev/rfcomm0'); 
-            %     b = EV3(); b.connect('usb', 'beep', 'on', ); 
-            %
+            %     % Setup bluetooth connection via com-port 0 |br|
+            %     b = EV3(); |br|
+            %     b.connect('bt', 'serPort', '/dev/rfcomm0'); |br|
+            %     % Setup usb connection, beep when connection has been established
+            %     b = EV3(); |br|
+            %     b.connect('usb', 'beep', 'on', ); |br| 
+            %     
             
             % Check connection
             if ev3.isConnected
@@ -273,9 +282,9 @@ classdef EV3 < MaskedHandle
             %     * This equals playTone(10, 1000, 100) (Wraps the same opCode in comm-layer)
             %
             % Example:
-            %     b = EV3(); 
-            %     b.connect('bt', 'serPort', '/dev/rfcomm0');
-            %     b.beep(); 
+            %     b = EV3(); |br|
+            %     b.connect('bt', 'serPort', '/dev/rfcomm0'); |br|
+            %     b.beep(); |br|
             %
             
             if ~ev3.isConnected
@@ -294,15 +303,15 @@ classdef EV3 < MaskedHandle
             % Plays tone on brick.
             %
             % Arguments:
-            %     volume (numeric in [0, 100])
-            %     frequency (numeric in [250, 10000])
+            %     volume (numeric in [0, 100]): in percent
+            %     frequency (numeric in [250, 10000]): in Hertz
             %     duration (numeric >0): in milliseconds
             %
             % Example:
-            %     b = EV3(); 
-            %     b.connect('bt', 'serPort', '/dev/rfcomm0');
+            %     b = EV3(); |br| 
+            %     b.connect('bt', 'serPort', '/dev/rfcomm0'); |br|
             %     b.playTone(50, 5000, 1000);  % Plays tone with 50% volume and 5000Hz for 1
-            %                                  % second.
+            %     second. |br|
             %
             
             if ~ev3.isConnected
@@ -321,10 +330,10 @@ classdef EV3 < MaskedHandle
             % Stops tone currently played
             %
             % Example:
-            %     b = EV3(); 
-            %     b.connect('bt', 'serPort', '/dev/rfcomm0');
-            %     b.playTone(10,100,100000000);  % Accidentally given wrong tone duration.
-            %     b.stopTone();  % Stops tone immediately.
+            %     b = EV3(); |br|
+            %     b.connect('bt', 'serPort', '/dev/rfcomm0'); |br|
+            %     b.playTone(10,100,100000000);  % Accidentally given wrong tone duration :) |br|
+            %     b.stopTone();  % Stops tone immediately. |br|
             %
             
             if ~ev3.isConnected
@@ -346,11 +355,11 @@ classdef EV3 < MaskedHandle
             %     status (bool): True if a tone is being played
             %            
             % Example
-            %     b = EV3(); 
-            %     b.connect('bt', 'serPort', '/dev/rfcomm0');
-            %     b.playTone(10, 100, 1000);
-            %     pause(0.5);
-            %     b.tonePlayed() -> Outputs 1 to console.
+            %     b = EV3(); |br|
+            %     b.connect('bt', 'serPort', '/dev/rfcomm0'); |br|
+            %     b.playTone(10, 100, 1000); |br|
+            %     pause(0.5); |br|
+            %     b.tonePlayed() -> Outputs 1 to console. |br|
             %
             
             if ~ev3.isConnected
@@ -399,14 +408,14 @@ classdef EV3 < MaskedHandle
             % Set multiple EV3 properties at once using MATLAB's inputParser.
             %
             % Arguments:
-            %     debug (numeric in {0,1,2}): see EV3.debug
-            %     batteryMode (string in {'Voltage'/'Percentage'}): see EV3.batteryMode
+            %     debug (numeric in {0,1,2}): see EV3.debug *[OPTIONAL]*
+            %     batteryMode (string in {'Voltage'/'Percentage'}): see EV3.batteryMode *[OPTIONAL]*
             %
             % Example:
-            %     b = EV3(); 
-            %     b.connect('bt', 'serPort', '/dev/rfcomm0');
-            %     b.setProperties('debug', 'on', 'batteryMode', 'Voltage');
-            %     % Instead of: b.debug = 'on'; b.batteryMode = 'Voltage';
+            %     b = EV3(); |br|
+            %     b.connect('bt', 'serPort', '/dev/rfcomm0'); |br|
+            %     b.setProperties('debug', 'on', 'batteryMode', 'Voltage'); |br|
+            %     % Instead of: b.debug = 'on'; b.batteryMode = 'Voltage'; |br|
             %
             % See also EV3.DEBUG, EV3.BATTERYMODE
             
@@ -446,6 +455,8 @@ classdef EV3 < MaskedHandle
         end
         
         function display(ev3)
+            % Displays EV3-properties and its devices
+            
             displayProperties(ev3); 
             
             fprintf('\n\tDevices\n');
diff --git a/source/Motor.m b/source/Motor.m
index 4c1572c..121b68a 100755
--- a/source/Motor.m
+++ b/source/Motor.m
@@ -11,38 +11,38 @@ classdef Motor < MaskedHandle & dynamicprops
     %     * The Motor-class represents motor ports, not individual motors!
     %
     % Attributes:
-    %    power (numeric in [-100, 100]): Power level of motor in percent. [WRITABLE]
+    %    power (numeric in [-100, 100]): Power level of motor in percent. *[WRITABLE]*
     %    speedRegulation (bool): Speed regulation turned on or off. When turned on, motor will 
     %        try to 'hold' its speed at given power level, whatever the load. In this mode, the
     %        highest possible speed depends on the load and mostly goes up to around 70-80 (at 
     %        this point, the Brick internally input 100% power). When turned off, motor will 
     %        constantly input the same power into the motor. The resulting speed will be 
-    %        somewhat lower, depending on the load. [WRITABLE]
+    %        somewhat lower, depending on the load. *[WRITABLE]*
     %    smoothStart (numeric s. t. smoothStart+smoothStop < limitValue): Degrees/Time 
     %        indicating how far/long the motor should smoothly start. Depending on limitMode, 
     %        the input is interpreted either in degrees or milliseconds. The first 
     %        {smoothStart}-milliseconds/degrees of limitValue the motor will slowly accelerate 
-    %        until reaching its defined speed. [WRITABLE]
+    %        until reaching its defined speed. *[WRITABLE]*
     %    smoothStop (numeric s. t. smoothStart+smoothStop < limitValue): Degrees/Time 
     %        indicating how far/long the motor should smoothly stop. Depending on limitMode, the 
     %        input is interpreted either in degrees or milliseconds. The last 
     %        [smoothStop]-milliseconds/degrees of limitValue the motor will slowly slow down 
-    %        until it has stopped. [WRITABLE]
+    %        until it has stopped. *[WRITABLE]*
     %    limitValue (numeric>=0): Degrees/Time indicating how far/long the motor should run.
     %        Depending on limitMode, the input is interpreted either in degrees or 
-    %        milliseconds. [WRITABLE]
-    %    limitMode ('Tacho'|'Time'): Mode for motor limit. [WRITABLE]
+    %        milliseconds. *[WRITABLE]*
+    %    limitMode ('Tacho'|'Time'): Mode for motor limit. *[WRITABLE]*
     %    brakeMode ('Brake'|'Coast'): Mode for braking. If 'Coast', the motor will (at 
     %        tacholimit, if ~=0) coast to a stop. If 'Brake', the motor will stop immediately 
-    %        (at tacholimit, if ~=0) and hold the brake. [WRITABLE]
+    %        (at tacholimit, if ~=0) and hold the brake. *[WRITABLE]*
     %    debug (bool): Debug turned on or off. In debug mode, everytime a command is passed to 
     %        the sublayer ('communication layer'), there is feedback in the console about what 
-    %        command has been called. [WRITABLE]
-    %    isRunning (bool): True if motor is running. [READ-ONLY]
-    %    tachoCount (numeric): Current tacho count. [READ-ONLY]
+    %        command has been called. *[WRITABLE]*
+    %    isRunning (bool): True if motor is running. *[READ-ONLY]*
+    %    tachoCount (numeric): Current tacho count. *[READ-ONLY]*
     %    currentSpeed (numeric): Current speed of motor. If speedRegulation=on this should equal power, 
-    %        otherwise it will probably be lower than that. [READ-ONLY]
-    %    type (DeviceType): Type of connected device if any. [READ-ONLY]
+    %        otherwise it will probably be lower than that. *[READ-ONLY]*
+    %    type (DeviceType): Type of connected device if any. *[READ-ONLY]*
     
     
     properties  % Standard properties to be set by user
@@ -73,7 +73,7 @@ classdef Motor < MaskedHandle & dynamicprops
         
         % limitValue (numeric>=0): Degrees/Time indicating how far/long the motor should run.
         %     Depending on limitMode, the input is interpreted either in degrees or 
-        %     milliseconds. [WRITABLE] 
+        %     milliseconds. [WRITABLE]
         % See also MOTOR.LIMITMODE 
         limitValue;  
         
@@ -139,18 +139,18 @@ classdef Motor < MaskedHandle & dynamicprops
     
     properties (Hidden, Dependent, Access = private)  % Hidden, dependent properties for internal use only
         % portNo (PortNo): Internal number of motor port.
-        %     * Port 'A': 0
-        %     * Port 'B': 1
-        %     * Port 'C': 2
-        %     * Port 'D': 3
+        %     - Port 'A': 0
+        %     - Port 'B': 1
+        %     - Port 'C': 2
+        %     - Port 'D': 3
         % See also PORTNO
         portNo;
         
         %portInput (PortInput): Internal number of motor port if accessed via input-opCodes 
-        % * Port 'A': 16
-        % * Port 'B': 17
-        % * Port 'C': 18
-        % * Port 'D': 19
+        %    - Port 'A': 16
+        %    - Port 'B': 17
+        %    - Port 'C': 18
+        %    - Port 'D': 19
         % See also PORTINPUT
         portInput;
         
@@ -362,17 +362,15 @@ classdef Motor < MaskedHandle & dynamicprops
             %
             % Arguments:
             %     syncMotor (Motor): the motor-object to sync with
-            %     turnRatio (numeric in [-200,200]): Description of turn_ratio (Excerpt of Firmware-comments, in c_output.c): 
-            %         "Turn ratio is how tight you turn and to what direction you turn. [OPTIONAL]
+            %     turnRatio (numeric in [-200,200]): *[OPTIONAL]* |br| (Excerpt of Firmware-comments, in c_output.c): 
+            %         "Turn ratio is how tight you turn and to what direction you turn. 
             %             * 0 value is moving straight forward
             %             * Negative values turn to the left
             %             * Positive values turn to the right
             %             * Value -100 stops the left motor
             %             * Value +100 stops the right motor
-            %             * Values less than -100 makes the left motor run the opposite
-            %                   direction of the right motor (Spin)
-            %             * Values greater than +100 makes the right motor run the opposite
-            %                   direction of the left motor (Spin)" 
+            %             * Values less than -100 makes the left motor run the opposite direction of the right motor (Spin)
+            %             * Values greater than +100 makes the right motor run the opposite direction of the left motor (Spin)" 
             %
             % Notes:
             %     * This is right now a pretty 'heavy' function, as it tests if both motors are
@@ -381,13 +379,14 @@ classdef Motor < MaskedHandle & dynamicprops
             %       (otherwise the sync-state cannot be exited correctly)
             %
             % Example:
-            %     b = EV3(); b.connect('usb');
-            %     m = b.motorA; 
-            %     slave = b.motorB;
-            %     m.power = 50;
-            %     m.syncedStart(slave);
+            %     b = EV3(); |br|
+            %     b.connect('usb'); |br|
+            %     m = b.motorA; |br|
+            %     slave = b.motorB; |br|
+            %     m.power = 50; |br|
+            %     m.syncedStart(slave); |br|
             %     % Do stuff
-            %     m.syncedStop();
+            %     m.syncedStop(); |br|
             %
             
             turnRatio = 0;
@@ -542,9 +541,9 @@ classdef Motor < MaskedHandle & dynamicprops
             %       outputReady returns in less than a second, another while-loop iterates until 
             %       the motor has stopped, this time using motor.isRunning() (this only works as 
             %       long as not both OutputTest and OutputReady are buggy).
-            %     * (OLD)Workaround: Poll isRunning (which itself return (speed>0)) until it is false
-            %        (No need to check if motor is connected as speed correctly returns 0 if
-            %        it's not)
+            %     * (OLD)Workaround: Poll isRunning (which itself return (speed>0)) until it
+            %       is false (No need to check if motor is connected as speed correctly 
+            %       returns 0 if it's not)
             
             if ~motor.connectedToBrick
                 error('Motor::waitFor: Motor-Object not connected to comm handle.');
@@ -595,6 +594,9 @@ classdef Motor < MaskedHandle & dynamicprops
             % physically change the motor's position or it coasted into a stop. If the motor's
             % brakemode is 'Coast', this function is called automatically.
             %
+            % Notes:
+            %     * A better name would probably be resetPosition...
+            %
             % See also MOTOR.RESETTACHOCOUNT
             
             if ~motor.connectedToBrick
@@ -796,24 +798,24 @@ classdef Motor < MaskedHandle & dynamicprops
             % Sets multiple Motor properties at once using MATLAB's inputParser.
             %
             % Arguments:
-            %     debug (bool) [OPTIONAL]
-            %     smoothStart (numeric in [0, limitValue]) [OPTIONAL]
-            %     smoothStop (numeric in [0, limitValue]) [OPTIONAL]
-            %     speedRegulation (bool) [OPTIONAL]
-            %     brakeMode ('Coast'|'Brake') [OPTIONAL]
-            %     limitMode ('Time'|'Tacho') [OPTIONAL]
-            %     limitValue (numeric > 0) [OPTIONAL]
-            %     power (numeric in [-100,100]) [OPTIONAL]
-            %     batteryMode ('Voltage'|'Percentage') [OPTIONAL]
+            %     debug (bool) *[OPTIONAL]*
+            %     smoothStart (numeric in [0, limitValue]) *[OPTIONAL]*
+            %     smoothStop (numeric in [0, limitValue]) *[OPTIONAL]*
+            %     speedRegulation (bool) *[OPTIONAL]*
+            %     brakeMode ('Coast'|'Brake') *[OPTIONAL]*
+            %     limitMode ('Time'|'Tacho') *[OPTIONAL]*
+            %     limitValue (numeric > 0) *[OPTIONAL]*
+            %     power (numeric in [-100,100]) *[OPTIONAL]*
+            %     batteryMode ('Voltage'|'Percentage') *[OPTIONAL]*
             %
             % Example:
-            %     b = EV3(); 
-            %     b.connect('bt', 'serPort', '/dev/rfcomm0');
-            %     b.motorA.setProperties('debug', 'on', 'power', 50, 'limitValue', 720, 'speedRegulation', 'on');
-            %     % Instead of: b.motorA.debug = 'on'; 
-            %     %             b.motorA.power = 50;
-            %     %             b.motorA.limitValue = 720;
-            %     %             b.motorA.speedRegulation = 'on';
+            %     b = EV3(); |br|
+            %     b.connect('bt', 'serPort', '/dev/rfcomm0'); |br|
+            %     b.motorA.setProperties('debug', 'on', 'power', 50, 'limitValue', 720, 'speedRegulation', 'on'); |br|
+            %     % Instead of: b.motorA.debug = 'on'; |br| 
+            %     %             b.motorA.power = 50; |br|
+            %     %             b.motorA.limitValue = 720; |br|
+            %     %             b.motorA.speedRegulation = 'on'; |br|
             %
             
             p = inputParser();
diff --git a/source/Sensor.m b/source/Sensor.m
index 3082f40..bf01571 100755
--- a/source/Sensor.m
+++ b/source/Sensor.m
@@ -15,7 +15,7 @@ classdef Sensor < MaskedHandle
     %        mode is set to DeviceMode.Default.Undefined. Once a physical sensor is connected
     %        to the port *and* the physical Brick is connected to the EV3-object, the allowed 
     %        mode and the default mode for a Sensor-object are the following (depending on the
-    %        sensor type): [WRITABLE]
+    %        sensor type): *[WRITABLE]*
     %
     %        * Touch-Sensor: 
     %            * DeviceMode.Touch.Pushed [Default]
@@ -33,9 +33,9 @@ classdef Sensor < MaskedHandle
     %            * DeviceMode.Gyro.Rate
     %    debug (bool): Debug turned on or off. In debug mode, everytime a command is passed to 
     %        the sublayer ('communication layer'), there is feedback in the console about what 
-    %        command has been called. [WRITABLE]
+    %        command has been called. *[WRITABLE]*
     %    value (numeric): Value read from hysical sensor. What the value represents depends on
-    %        sensor.mode. [READ-ONLY]
+    %        sensor.mode. *[READ-ONLY]*
     %    type (DeviceType): Type of physical sensor connected to the port. Possible types are: [READ-ONLY]
     %
     %        * DeviceType.NXTTouch
@@ -88,11 +88,12 @@ classdef Sensor < MaskedHandle
     
     properties (Dependent)  % Parameters to be read directly from physical brick
         % value (numeric): Value read from hysical sensor. What the value represents depends on
-        %     sensor.mode. [READ-ONLY]
+        %     sensor.mode. *[READ-ONLY]*
         % See also SENSOR.MODE
         value;
         
-        % type (DeviceType): Type of physical sensor connected to the port. Possible types are: [READ-ONLY]
+        % type (DeviceType): Type of physical sensor connected to the port. Possible types are
+        % *[READ-ONLY]*:
         %     * DeviceType.NXTTouch
         %     * DeviceType.NXTLight
         %     * DeviceType.NXTSound
@@ -225,15 +226,15 @@ classdef Sensor < MaskedHandle
             % Sets multiple Sensor properties at once using MATLAB's inputParser.
             %
             % Arguments:
-            %     debug (bool) [OPTIONAL]
-            %     mode (DeviceMode.{Type}) [OPTIONAL]
+            %     debug (bool) *[OPTIONAL]*
+            %     mode (DeviceMode.{Type}) *[OPTIONAL]*
             %
             % Example:
-            %     b = EV3(); 
-            %     b.connect('bt', 'serPort', '/dev/rfcomm0');
-            %     b.sensor1.setProperties('debug', 'on', 'mode', DeviceMode.Color.Ambient);
-            %     % Instead of: b.sensor1.debug = 'on'; 
-            %     %             b.sensor1.mode = DeviceMode.Color.Ambient;
+            %     b = EV3(); |br|
+            %     b.connect('bt', 'serPort', '/dev/rfcomm0'); |br|
+            %     b.sensor1.setProperties('debug', 'on', 'mode', DeviceMode.Color.Ambient); |br|
+            %     % Instead of: b.sensor1.debug = 'on'; |br|
+            %     %             b.sensor1.mode = DeviceMode.Color.Ambient; |br|
             %
             p = inputParser();
             
-- 
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