Release Notes: The following new sensors are supported: HiTechnic Color Sensor (digital), HiTechnic Gyroscopic Sensor (analog), Codatex RFID Sensor (digital), HiTechnic Infrared Seeker, HiTechnic Acceleration Sensor, and HiTechnic Magnetic Compass Sensor. A private low-level function, waitUntilI2CReady, was added to support the implementation of complex I2C sensors. The NXC_ResetErrorCorrection function was added. The new NXTmotor class was improved in various places and is more stable now. The embedded NXC program MotorControl was improved to work with NXC_ResetErrorCorrection (the current version is 1.1). The documentation was updated. Precise motor control was added through the embedded NXC program. The NXTmotor class was added to easily manage and control motors (and requires MATLAB 2008a). The NXC_MotorControl function was added as a direct interface for advanced motor regulation. The NXT_GetCurrentProgramName function was added. Support for USB communication was added to the NXT brick (for both Windows and Linux systems). It is about 10 times faster than Bluetooth.