diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..78d7eac09658af5d0c926803eb7556a886f13b06
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,12 @@
+*~
+\#*\#
+.\#*
+
+.DS_Store
+.DS_Store?
+._*
+.Spotlight-V100
+.Trashes
+ehthumbs.db
+
+*.asv
diff --git a/MatLab/Robot_GUI_exported.asv b/MatLab/Robot_GUI_exported.asv
deleted file mode 100644
index 68e3dfd4984439f50fd4ad3a0382e6b33669ba87..0000000000000000000000000000000000000000
--- a/MatLab/Robot_GUI_exported.asv
+++ /dev/null
@@ -1,1509 +0,0 @@
-classdef Robot_GUI_exported < matlab.apps.AppBase
-
-    % Properties that correspond to app components
-    properties (Access = public)
-        UIFigure                      matlab.ui.Figure
-        GridLayout                    matlab.ui.container.GridLayout
-        % LEFT PANEL
-        LeftPanel                     matlab.ui.container.Panel
-        %Zero seeks pane
-        ZeroseeksLabel                matlab.ui.control.Label
-        AbsoluteXTextArea             matlab.ui.control.EditField
-        ZeroseekXButton               matlab.ui.control.Button
-        AbsLamp_X                     matlab.ui.control.Lamp
-        AbsoluteYTextArea             matlab.ui.control.EditField
-        ZeroseekYButton               matlab.ui.control.Button
-        AbsLamp_Y                     matlab.ui.control.Lamp
-        AbsoluteZTextArea             matlab.ui.control.EditField
-        ZeroseekZButton               matlab.ui.control.Button
-        AbsLamp_Z                     matlab.ui.control.Lamp   
-        %Limit switches pane
-        LimitswitchesLabel            matlab.ui.control.Label
-        MinLabel                      matlab.ui.control.Label
-        MaxLabel                      matlab.ui.control.Label
-        XLabel                        matlab.ui.control.Label
-        AbsLamp_X_min                 matlab.ui.control.Lamp
-        AbsLamp_X_max                 matlab.ui.control.Lamp
-        YLabel                        matlab.ui.control.Label
-        AbsLamp_Y_min                 matlab.ui.control.Lamp
-        AbsLamp_Y_max                 matlab.ui.control.Lamp
-        ZLabel                        matlab.ui.control.Label
-        AbsLamp_Z_min                 matlab.ui.control.Lamp
-        AbsLamp_Z_max                 matlab.ui.control.Lamp
-        %Emergency button pane
-        Emergency_Button              matlab.ui.control.Lamp
-        EmergencybuttonLabel          matlab.ui.control.Label
-        %Stepper status pane
-        StepperStatusTextArea         matlab.ui.control.EditField
-        StepperstatusLabel            matlab.ui.control.Label
-        %Grabber status pane
-        GrabberstatusLabel            matlab.ui.control.Label
-        GrabberstatusTextArea         matlab.ui.control.TextArea
-        %Update status button
-        UpdatestatusButton            matlab.ui.control.Button
-        %Temperatures pane
-        TemperaturesTextAreaLabel     matlab.ui.control.Label
-        Tempprobe1CLabel              matlab.ui.control.Label
-        TemperaturesTextArea          matlab.ui.control.TextArea
-        Tempprobe2CLabel              matlab.ui.control.Label
-        TemperaturesTextArea_2        matlab.ui.control.TextArea
-        GettemperaturesButton         matlab.ui.control.Button
-        
-        BlackLine                     matlab.ui.control.Label
-        BlacklineLabel_9              matlab.ui.control.Label
-        BlacklineLabel_8              matlab.ui.control.Label
-        BlacklineLabel_7              matlab.ui.control.Label
-        BlacklineLabel_6              matlab.ui.control.Label
-        BlacklineLabel_13             matlab.ui.control.Label
-        BlacklineLabel_10             matlab.ui.control.Label
-        BlacklineLabel_5              matlab.ui.control.Label
-        BlacklineLabel_4              matlab.ui.control.Label
-        BlacklineLabel                matlab.ui.control.Label
-        
-        
-        %CENTER PANEL
-        CenterPanel                   matlab.ui.container.Panel
-        TabGroup                      matlab.ui.container.TabGroup
-        PlotsTab                      matlab.ui.container.Tab
-        PositionplotsLabel            matlab.ui.control.Label
-        Image2                        matlab.ui.control.Image
-        BlacklineLabel_11             matlab.ui.control.Label 
-        UIAxes_6                      matlab.ui.control.UIAxes
-        UIAxes_5                      matlab.ui.control.UIAxes
-        UIAxes_4                      matlab.ui.control.UIAxes
-        DebugTab                      matlab.ui.container.Tab
-        BlacklineLabel_12             matlab.ui.control.Label
-        DebugLabel                    matlab.ui.control.Label
-        RawHistory                    matlab.ui.control.ListBox
-        
-        %RIGHT PANEL
-        RightPanel                    matlab.ui.container.Panel
-        ControlsLabel                 matlab.ui.control.Label
-        SelecttheholdertopickupLabel  matlab.ui.control.Label
-        %Holder buttons
-        Panel                         matlab.ui.container.Panel
-        GridLayout2                   matlab.ui.container.GridLayout
-        %GrabHolderButtons             matlab.ui.container.ButtonGroup
-        GrabHolder_32                 matlab.ui.control.StateButton
-        GrabHolder_31                 matlab.ui.control.StateButton
-        GrabHolder_30                 matlab.ui.control.StateButton
-        GrabHolder_29                 matlab.ui.control.StateButton
-        GrabHolder_28                 matlab.ui.control.StateButton
-        GrabHolder_27                 matlab.ui.control.StateButton
-        GrabHolder_26                 matlab.ui.control.StateButton
-        GrabHolder_25                 matlab.ui.control.StateButton
-        GrabHolder_23                 matlab.ui.control.StateButton
-        GrabHolder_12                 matlab.ui.control.StateButton
-        GrabHolder_24                 matlab.ui.control.StateButton
-        GrabHolder_22                 matlab.ui.control.StateButton
-        GrabHolder_21                 matlab.ui.control.StateButton
-        GrabHolder_20                 matlab.ui.control.StateButton
-        GrabHolder_19                 matlab.ui.control.StateButton
-        GrabHolder_18                 matlab.ui.control.StateButton
-        GrabHolder_17                 matlab.ui.control.StateButton
-        GrabHolder_16                 matlab.ui.control.StateButton
-        GrabHolder_15                 matlab.ui.control.StateButton
-        GrabHolder_14                 matlab.ui.control.StateButton
-        GrabHolder_13                 matlab.ui.control.StateButton
-        GrabHolder_11                 matlab.ui.control.StateButton
-        GrabHolder_10                 matlab.ui.control.StateButton
-        GrabHolder_09                 matlab.ui.control.StateButton
-        GrabHolder_08                 matlab.ui.control.StateButton
-        GrabHolder_07                 matlab.ui.control.StateButton
-        GrabHolder_06                 matlab.ui.control.StateButton
-        GrabHolder_05                 matlab.ui.control.StateButton
-        GrabHolder_04                 matlab.ui.control.StateButton
-        GrabHolder_03                 matlab.ui.control.StateButton
-        GrabHolder_02                 matlab.ui.control.StateButton
-        GrabHolder_01                 matlab.ui.control.StateButton
-        %Robot control
-        PutHolderInBeam               matlab.ui.control.Button
-        BringbackholderButton         matlab.ui.control.Button
-        %Filter pane
-        BlackLine1                    matlab.ui.control.Label
-        BlackLine2                    matlab.ui.control.Label
-        BlackLine3                     matlab.ui.control.Label
-        FilterLabel1                  matlab.ui.control.Label
-        Filter1INButton               matlab.ui.control.Button
-        Filter1OUTButton              matlab.ui.control.Button
-        FilterLabel2                  matlab.ui.control.Label
-        Filter2INButton               matlab.ui.control.Button
-        Filter2OUTButton              matlab.ui.control.Button
-        %Last command
-        LastCommandTextArea           matlab.ui.control.TextArea
-        LastCommandTextAreaLabel      matlab.ui.control.Label
-        %C-robot image   
-        Image                         matlab.ui.control.Image
-        XpositioninbeammmEditField    matlab.ui.control.NumericEditField
-        XpositioninbeammmEditFieldLabel  matlab.ui.control.Label
-        BlacklineLabel_3              matlab.ui.control.Label        
-        StatusandChecksLabel          matlab.ui.control.Label    
-    end
-
-    % Properties that correspond to apps with auto-reflow
-    properties (Access = private)
-        onePanelWidth = 576;
-        twoPanelWidth = 768;
-    end
-
-
-    properties (Access = private)
-        conn = [];
-
-
-        Pos_hold_idx = NaN;
-        Pos_hold_X = NaN;
-        Pos_hold_Y = NaN;
-        Pos_hold_Z = NaN;
-
-        StepperIsMoving = NaN;
-
-        Pos_holders = [225 200 2200; ...
-                       225 1825 2200; ...
-                       717 200 2200; ...
-                       717 1825 2200; ...
-                       1198 200 2200; ...
-                       1198 1825 2200; ...
-                       1679 200 2200; ...
-                       1679 1825 2200; ...
-                       2160 200 2200; ...
-                       2160 1825 2200; ...
-                       2641 200 2200; ...
-                       2641 1825 2200; ...
-                       3122 200 2200; ...
-                       3122 1825 2200; ...
-                       3603 200 2200; ...
-                       3603 1825 2200; ...
-                       4084 200 2200; ...
-                       4084 1825 2200; ...
-                       4565 200 2200; ...
-                       4565 1825 2200; ...
-                       5046 200 2200; ...
-                       5046 1825 2200; ...
-                       5527 200 2200; ...
-                       5527 1825 2200; ...
-                       6008 200 2200; ...
-                       6008 1825 2200; ...
-                       6489 200 2200; ...
-                       6489 1825 2200; ...
-                       6970 200 2200; ...
-                       6970 1825 2200; ...
-                       7451 200 2200; ...
-                       7451 1825 2200; ...
-                       7932 200 2200; ...
-                       8413 1825 2200];
-
-        %List of all holder buttons,
-        % not possible to generate programattically in AppDesigner
-        % so it has to be manually maintained (to be sure it's in the right order)...
-        grabHolderButts = [];
-        
-
-    end
-
-    methods (Access = private)
-
-        function robotCallBack(app,stepper,grabber,temp, filters)
-            disp(['UPDATE: stepper=',num2str(stepper), ...
-                        ', grabber=',num2str(grabber), ...
-                        ', temp=',   num2str(temp), ...
-                        ', filter=', num2str(filters)]);
-            disp(app.conn)
-
-            if temp
-                app.TemperaturesTextArea.Value = num2str(app.conn.temps(1));
-                app.TemperaturesTextArea_2.Value = num2str(app.conn.temps(2));
-            end
-
-            if stepper
-
-                %Local copies of state variables for easy referencing
-                Pos_X = app.conn.stepperPos(1);
-                Pos_Y = app.conn.stepperPos(2);
-                Pos_Z = app.conn.stepperPos(3);
-
-                Abs_X = app.conn.stepperAbs(1);
-                Abs_Y = app.conn.stepperAbs(2);
-                Abs_Z = app.conn.stepperAbs(3);
-
-                LimLo_X = app.conn.stepperLimLo(1);
-                LimLo_Y = app.conn.stepperLimLo(2);
-                LimLo_Z = app.conn.stepperLimLo(3);
-
-                LimHi_X = app.conn.stepperLimHi(1);
-                LimHi_Y = app.conn.stepperLimHi(2);
-                LimHi_Z = app.conn.stepperLimHi(3);
-
-                app.StepperIsMoving = app.conn.stepperIsMoving;
-
-                %LastCommand
-
-                app.LastCommandTextArea.Value = num2str(app.conn.lastCommand);
-
-                %Plotting the position
-
-                axes(app.UIAxes_6);
-
-                scatter(app.UIAxes_6,Pos_X, Pos_Z,100,"red",'filled');
-                rectangle(app.UIAxes_6,'Position', [0 1400 8000 1600],'FaceColor',[1, .8, .8, 0.5],'EdgeColor','r','LineWidth',1)
-                text(app.UIAxes_6,2600,1750,'X/Y interlock region')
-                text(app.UIAxes_6,2600,2400,'Storage/Beam tank')
-                rectangle(app.UIAxes_6,'Position', [0 2000 8000 1000],'FaceColor',[0, 1, 1, 0.5],'EdgeColor','blue','LineWidth',1)
-
-
-                axes(app.UIAxes_5);
-
-                scatter(app.UIAxes_5,Pos_X, Pos_Y,100,"red",'filled');
-                rectangle(app.UIAxes_5,'Position', [0 0 8000 2000],'FaceColor',[0, 1, 1, 0.5],'EdgeColor','blue','LineWidth',1)
-                text(app.UIAxes_5,3000,1000,'Storage tank')
-                rectangle(app.UIAxes_5,'Position', [0 5280 8000 2720],'FaceColor',[0, 1, 1, 0.5],'EdgeColor','blue','LineWidth',1)
-                text(app.UIAxes_5,3000,6750,'Beam tank')
-
-                axes(app.UIAxes_4);
-
-                scatter(app.UIAxes_4,Pos_Y, Pos_Z,100,"red",'filled');
-                rectangle(app.UIAxes_4,'Position', [0 2000 2000 1000],'FaceColor',[0, 1, 1, 0.5],'EdgeColor','blue','LineWidth',1)
-                text(app.UIAxes_4,450,2500,'Storage')
-                rectangle(app.UIAxes_4,'Position', [5280 2000 2720 1000],'FaceColor',[0, 1, 1, 0.5],'EdgeColor','blue','LineWidth',1)
-                text(app.UIAxes_4,6200,2500,'Beam')
-                rectangle(app.UIAxes_4,'Position', [0 1400 8000 1600],'FaceColor',[1, .8, .8, 0.5],'EdgeColor','r','LineWidth',1)
-                text(app.UIAxes_4,2600,1750,'X/Y interlock region')
-
-
-%                 axes(app.UIAxes_3);
-%
-%                 plot3(app.UIAxes_3,app.Pos_X,app.Pos_Y, app.Pos_Z,'.','Color','r','MarkerSize',40)
-%
-%                 app.UIAxes_3.View = [90 45];
-%                 app.UIAxes_3.Projection = 'perspective';
-
-%                  H=[0 8000 0 8000 0 8000 0 8000; 0 0 2000 2000 0 0 2000 2000; 3000 3000 3000 3000 1500 1500 1500 1500]; %Vertices of the cube
-%                  S=[1 2 4 3; 1 2 6 5; 1 3 7 5; 3 4 8 7; 2 4 8 6; 5 6 8 7]; %Surfaces of the cube
-%                  hold(app.UIAxes_3,"on")
-%                  for i=1:size(S,1)
-%                      Si=S(i,:);
-%                      fill3(app.UIAxes_3,H(1,Si),H(2,Si),H(3,Si),[0, 1, 1],'facealpha',0.6)
-%                  end
-%
-%                  H=[0 8000 0 8000 0 8000 0 8000; 6000 6000 8000 8000 6000 6000 8000 8000; 3000 3000 3000 3000 1500 1500 1500 1500]; %Vertices of the cube
-%                  S=[1 2 4 3; 1 2 6 5; 1 3 7 5; 3 4 8 7; 2 4 8 6; 5 6 8 7]; %Surfaces of the cube
-%                  hold(app.UIAxes_3,"on")
-%                  for i=1:size(S,1)
-%                      Si=S(i,:);
-%                      fill3(app.UIAxes_3,H(1,Si),H(2,Si),H(3,Si),[0, 1, 1],'facealpha',0.6)
-%                  end
-%                  hold(app.UIAxes_3,"off")
-
-
-                %Light and text for Absolute/Relative
-                if Abs_X == 1
-                    app.AbsoluteXTextArea.Value = "Absolute";
-                    app.AbsLamp_X.Color = 'green';
-                else
-                    app.AbsoluteXTextArea.Value = "Relative";
-                    app.AbsLamp_X.Color = 'red';
-                end
-
-                if Abs_Y == 1
-                    app.AbsoluteYTextArea.Value = "Absolute";
-                    app.AbsLamp_Y.Color = 'green';
-                else
-                    app.AbsoluteYTextArea.Value = "Relative";
-                    app.AbsLamp_Y.Color = 'red';
-                end
-
-                if Abs_Z == 1
-                    app.AbsoluteZTextArea.Value = "Absolute";
-                    app.AbsLamp_Z.Color = 'green';
-                else
-                    app.AbsoluteZTextArea.Value = "Relative";
-                    app.AbsLamp_Z.Color = 'red';
-                end
-
-                %Stepper is moving Text area
-                if app.conn.stepperIsMoving == 1
-                   app.StepperStatusTextArea.Value = "X stepper is moving";
-                end
-
-                if app.conn.stepperIsMoving == 2
-                   app.StepperStatusTextArea.Value = "Y stepper is moving";
-                end
-
-                if app.conn.stepperIsMoving == 3
-                   app.StepperStatusTextArea.Value = "Z stepper is moving";
-                end
-
-                if app.StepperIsMoving == 0
-                   app.StepperStatusTextArea.Value = "Stepper is not moving";
-                end
-
-                %Light for limit switches
-                if LimLo_X == 1
-                   app.AbsLamp_X_min.Color = 'green';
-                else
-                   app.AbsLamp_X_min.Color = [0.8 0.8 0.8];
-                end
-                if LimLo_Y == 1
-                   app.AbsLamp_Y_min.Color = 'green';
-                else
-                   app.AbsLamp_Y_min.Color = [0.8 0.8 0.8];
-                end
-                if LimLo_Z == 1
-                   app.AbsLamp_Z_min.Color = 'green';
-                else
-                   app.AbsLamp_Z_min.Color = [0.8 0.8 0.8];
-                end
-
-                if LimHi_X == 1
-                   app.AbsLamp_X_max.Color = 'green';
-                else
-                   app.AbsLamp_X_max.Color = [0.8 0.8 0.8];
-                end
-                if LimHi_Y == 1
-                   app.AbsLamp_Y_max.Color = 'green';
-                else
-                   app.AbsLamp_Y_max.Color = [0.8 0.8 0.8];
-                end
-                if LimHi_Z == 1
-                   app.AbsLamp_Z_max.Color = 'green';
-                else
-                   app.AbsLamp_Z_max.Color = [0.8 0.8 0.8];
-                end
-
-                %Light for Emergency Button
-                if app.conn.isEmergencyStopped == 1
-                   app.Emergency_Button.Color = 'green';
-                else
-                   app.Emergency_Button.Color = [0.8 0.8 0.8];
-                end
-            end
-
-            %Status of the grabber
-            if grabber
-                if app.conn.grabberPos == app.conn.grabberOpenPos
-                    app.GrabberstatusTextArea.Value = "Open";
-                elseif app.conn.grabberPos == app.conn.grabberClosedPos
-                    app.GrabberstatusTextArea.Value = "Close";
-                else
-                    app.GrabberstatusTextArea.Value = num2str(app.conn.grabberPos);
-                end
-            end
-
-            %Status of the filters
-            if filters
-                if app.conn.filterPos(1) == app.conn.filterInPos(1)
-                   app.Filter1INButton.BackgroundColor = 'green';
-                   app.Filter1OUTButton.BackgroundColor = [0.96 0.96 0.96];
-                elseif app.conn.filterPos(1) == app.conn.filterOutPos(1)
-                   app.Filter1INButton.BackgroundColor = [0.96 0.96 0.96];
-                   app.Filter1OUTButton.BackgroundColor = 'red';
-                end
-                if app.conn.filterPos(2) == app.conn.filterInPos(2)
-                   app.Filter2INButton.BackgroundColor = 'green';
-                   app.Filter2OUTButton.BackgroundColor = [0.96 0.96 0.96];
-                elseif app.conn.filterPos(2) == app.conn.filterOutPos(2)
-                   app.Filter2INButton.BackgroundColor = [0.96 0.96 0.96];
-                   app.Filter2OUTButton.BackgroundColor = 'red';
-                end
-            end
-
-           
-
-        end
-
-        function textCallBack(app,textLine)
-            txt = convertStringsToChars(textLine);
-
-            if isempty(app.RawHistory.Items) || isempty(app.RawHistory.Items{1})
-                app.RawHistory.Items{1} = txt;
-            else
-                app.RawHistory.Items{end+1} = txt;
-            end
-
-            scroll(app.RawHistory,'bottom');
-
-        end
-
-         function grabHolder(app,Pos_h_X,Pos_h_Y,Pos_h_Z)
-
-            app.conn.updateGrabberStatus
-            app.conn.grabberOpen;
-
-            app.conn.stepperGo('Z',50);
-
-            app.conn.stepperGo('X',Pos_h_X);
-            app.conn.stepperGo('Y',Pos_h_Y);
-            app.conn.stepperGo('Z',Pos_h_Z);
-            app.conn.grabberClose;
-
-            app.conn.updateGrabberStatus
-
-         end
-
-
-    end
-
-
-    % Callbacks that handle component events
-    methods (Access = private)
-
-        % Code that executes after component creation
-        function startupFcn(app)
-            %app.conn = robotConnector("172.18.211.7",@(obj,stepper,grabber,temp,filters) app.robotCallBack(stepper,grabber,temp,filters),@(obj,textLine) app.textCallBack(textLine));
-            app.conn = robotConnector("/dev/ttyACM0",@(obj,stepper,grabber,temp,filters) app.robotCallBack(stepper,grabber,temp,filters),@(obj,textLine) app.textCallBack(textLine));
-
-
-            %List of all holder buttons,
-            % not possible to generate programattically in AppDesigner
-            % so it has to be manually maintained (to be sure it's in the right order)...
-            % Also, it cannot be made earlier because the GUI must first create itself...
-            app.grabHolderButts = [app.GrabHolder_01, app.GrabHolder_02, app.GrabHolder_03, ...
-                                   app.GrabHolder_04, app.GrabHolder_05, app.GrabHolder_06, ...
-                                   app.GrabHolder_07, app.GrabHolder_08, app.GrabHolder_09, ...
-                                   app.GrabHolder_10, app.GrabHolder_11, app.GrabHolder_12, ...
-                                   app.GrabHolder_13, app.GrabHolder_14, app.GrabHolder_15, ...
-                                   app.GrabHolder_16, app.GrabHolder_17, app.GrabHolder_18, ...
-                                   app.GrabHolder_19, app.GrabHolder_20, app.GrabHolder_21, ...
-                                   app.GrabHolder_22, app.GrabHolder_23, app.GrabHolder_24, ...
-                                   app.GrabHolder_25, app.GrabHolder_26, app.GrabHolder_27, ...
-                                   app.GrabHolder_28, app.GrabHolder_29, app.GrabHolder_30, ...
-                                   app.GrabHolder_31, app.GrabHolder_32];
-            
-            app.filterINButts=[app.Filter1INButton, app.Filter2INButton];
-            app.filterOUTButts=[app.Filter1OUTButton, app.Filter2OUTButton];
-
-        end
-
-        % Changes arrangement of the app based on UIFigure width
-        function updateAppLayout(app, event)
-            currentFigureWidth = app.UIFigure.Position(3);
-            if(currentFigureWidth <= app.onePanelWidth)
-                % Change to a 3x1 grid
-                app.GridLayout.RowHeight = {816, 816, 816};
-                app.GridLayout.ColumnWidth = {'1x'};
-                app.CenterPanel.Layout.Row = 1;
-                app.CenterPanel.Layout.Column = 1;
-                app.LeftPanel.Layout.Row = 2;
-                app.LeftPanel.Layout.Column = 1;
-                app.RightPanel.Layout.Row = 3;
-                app.RightPanel.Layout.Column = 1;
-            elseif (currentFigureWidth > app.onePanelWidth && currentFigureWidth <= app.twoPanelWidth)
-                % Change to a 2x2 grid
-                app.GridLayout.RowHeight = {816, 816};
-                app.GridLayout.ColumnWidth = {'1x', '1x'};
-                app.CenterPanel.Layout.Row = 1;
-                app.CenterPanel.Layout.Column = [1,2];
-                app.LeftPanel.Layout.Row = 2;
-                app.LeftPanel.Layout.Column = 1;
-                app.RightPanel.Layout.Row = 2;
-                app.RightPanel.Layout.Column = 2;
-            else
-                % Change to a 1x3 grid
-                app.GridLayout.RowHeight = {'1x'};
-                app.GridLayout.ColumnWidth = {220, '1x', 224};
-                app.LeftPanel.Layout.Row = 1;
-                app.LeftPanel.Layout.Column = 1;
-                app.CenterPanel.Layout.Row = 1;
-                app.CenterPanel.Layout.Column = 2;
-                app.RightPanel.Layout.Row = 1;
-                app.RightPanel.Layout.Column = 3;
-            end
-        end
-
-        % Button pushed function: ZeroseekXButton
-        function ZeroseekXButtonPushed(app, event)
-            app.conn.stepperZeroseek('X');
-        end
-
-        % Button pushed function: ZeroseekYButton
-        function ZeroseekYButtonPushed(app, event)
-            app.conn.stepperZeroseek('Y');
-        end
-
-        % Button pushed function: ZeroseekZButton
-        function ZeroseekZButtonPushed(app, event)
-            app.conn.stepperZeroseek('Z');
-        end
-
-        % Callback function: GettemperaturesButton, TemperaturesTextArea,
-        % TemperaturesTextArea_2
-        function GettempsButtonPushed(app, event)
-            app.conn.updateTemp;
-        end
-
-        % Button pushed function: PutHolderInBeam
-        function PutHolderInBeamPushed(app, event)
-            app.conn.updateGrabberStatus
-
-            app.conn.stepperGo('Z',50);
-            app.conn.stepperGo('Y',7210);
-            app.conn.stepperGo('X',app.XpositioninbeammmEditField.Value*7803/460+95*7803/460);
-            app.conn.stepperGo('Z',2340);
-
-            %Disable itself, enable bringback button
-            app.BringbackholderButton.Enable = true;
-
-            %Disable off all storage position buttons when in beam
-            for i = 1:length(app.grabHolderButts)
-                app.grabHolderButts(i).Enable = false;
-            end
-        end
-
-        % Button pushed function: BringbackholderButton
-        function BringbackholderButtonPushed(app, event)
-            if isnan(app.Pos_hold_idx)
-                error('No known holder position to bringback to?')
-            end
-
-            app.conn.stepperGo('Z',50);
-
-            app.conn.stepperGo('Y',app.Pos_hold_Y);
-            app.conn.stepperGo('X',app.Pos_hold_X);
-
-            app.conn.stepperGo('Z',app.Pos_hold_Z);
-            app.conn.grabberOpen;
-
-            app.conn.updateGrabberStatus()
-
-            app.Pos_hold_idx = NaN;
-            app.Pos_hold_X   = NaN;
-            app.Pos_hold_Y   = NaN;
-            app.Pos_hold_Z   = NaN;
-
-            %Turn off all storage position buttons
-            for i = 1:length(app.grabHolderButts)
-                app.grabHolderButts(i).Value = false;
-                app.grabHolderButts(i).Enable = true;
-            end
-            %Disable itself
-            app.BringbackholderButton.Enable=false;
-
-        end
-
-        % Button pushed function: UpdatestatusButton
-        function UpdatestatusButtonPushed(app, event)
-            app.conn.updateStepperStatus;
-            app.conn.updateGrabberStatus
-        end
-
-        % Value changed function: GrabHolder_01, GrabHolder_02,
-        % GrabHolder_03, GrabHolder_04, GrabHolder_05, GrabHolder_06,
-        % GrabHolder_07, GrabHolder_08, GrabHolder_09, GrabHolder_10,
-        % GrabHolder_11, GrabHolder_12, GrabHolder_13, GrabHolder_14,
-        % GrabHolder_15, GrabHolder_16, GrabHolder_17, GrabHolder_18,
-        % GrabHolder_19, GrabHolder_20, GrabHolder_21, GrabHolder_22,
-        % GrabHolder_23, GrabHolder_24, GrabHolder_25, GrabHolder_26,
-        % GrabHolder_27, GrabHolder_28, GrabHolder_29, GrabHolder_30,
-        % GrabHolder_31, GrabHolder_32
-        function GrabHolder_ValueChanged(app, event)
-            %This function is called for ALL the GrabHolder_* buttons.
-            % It basically emulates a Toggle button group,
-            % but lets us set the position of the buttons freely.
-            % Note that only a physical user click on the button generates
-            %  this callback, not just a .Value change (even if MATLAB says so)
-
-            %Which one was clicked?
-            idx = find(event.Source==app.grabHolderButts);
-            if isempty(idx)
-                error('Internal error: Could not find button in array')
-            end
-
-            value = event.Source.Value;
-            %Ignore button presses (incl. programmatical ones) to "off".
-            if value ~= 1
-                if idx == app.Pos_hold_idx
-                    %Disp cannot turn off the active holder!
-                    app.grabHolderButts(idx).Value = 1;
-                end
-                return;
-            end
-
-            %Turn off all other buttons
-            for i = 1:length(app.grabHolderButts)
-                if i == idx
-                    continue
-                end
-                app.grabHolderButts(i).Value = 0;
-            end
-
-            %Update GUI class status
-            app.Pos_hold_idx = idx;
-            app.Pos_hold_X =  app.Pos_holders(idx,1);
-            app.Pos_hold_Y =  app.Pos_holders(idx,2);
-            app.Pos_hold_Z =  app.Pos_holders(idx,3);
-
-            %Actually move the robot
-            app.conn.updateGrabberStatus();
-            app.conn.grabberOpen();
-
-            app.conn.stepperGo('Z',50);
-            app.conn.stepperGo('X',app.Pos_hold_X);
-            app.conn.stepperGo('Y',app.Pos_hold_Y);
-            app.conn.stepperGo('Z',app.Pos_hold_Z);
-
-            app.conn.grabberClose();
-            app.conn.updateGrabberStatus();
-        end
-    
-        % Button pushed function: FilterINButton
-        function FilterINButtonPushed(app, event)
-            idx = find(event.Source==app.filterINButts);
-            app.conn.filterIn(1);
-        end
-
-        % Button pushed function: FilterOUTButton
-        function Filter1OUTButtonPushed(app, event)
-            app.conn.filterOut(1);
-        end
-
-        % Button pushed function: FilterINButton
-        function Filter2INButtonPushed(app, event)
-            app.conn.filterIn(2);
-        end
-
-        % Button pushed function: FilterOUTButton
-        function Filter2OUTButtonPushed(app, event)
-            app.conn.filterOut(2);
-        end
-
-    end
-
-     % Component initialization
-    methods (Access = private)
-
-        % Create UIFigure and components
-        function createComponents(app)
-
-            % Create UIFigure and hide until all components are created
-            app.UIFigure = uifigure('Visible', 'off');
-            app.UIFigure.AutoResizeChildren = 'off';
-            app.UIFigure.Color = [1 1 1];
-            app.UIFigure.Position = [100 100 883 816];
-            app.UIFigure.Name = 'MATLAB App';
-            app.UIFigure.SizeChangedFcn = createCallbackFcn(app, @updateAppLayout, true);
-
-            % Create GridLayout
-            app.GridLayout = uigridlayout(app.UIFigure);
-            app.GridLayout.ColumnWidth = {220, '1x', 224};
-            app.GridLayout.RowHeight = {'1x'};
-            app.GridLayout.ColumnSpacing = 0;
-            app.GridLayout.RowSpacing = 0;
-            app.GridLayout.Padding = [0 0 0 0];
-            app.GridLayout.Scrollable = 'on';
-
-            % Create LeftPanel
-            app.LeftPanel = uipanel(app.GridLayout);
-            app.LeftPanel.Layout.Row = 1;
-            app.LeftPanel.Layout.Column = 1;
-            
-            % Create StatusandChecksLabel
-            app.StatusandChecksLabel = uilabel(app.UIFigure);
-            app.StatusandChecksLabel.HorizontalAlignment = 'center';
-            app.StatusandChecksLabel.FontSize = 20;
-            app.StatusandChecksLabel.FontWeight = 'bold';
-            app.StatusandChecksLabel.Position = [20 767 180 43];
-            app.StatusandChecksLabel.Text = 'Status and Checks';
-            
-            % Create BlacklineLabel
-            app.BlacklineLabel = uilabel(app.LeftPanel);
-            app.BlacklineLabel.BackgroundColor = [0 0 0];
-            app.BlacklineLabel.FontSize = 2;
-            app.BlacklineLabel.Position = [1 769 218 2];
-            app.BlacklineLabel.Text = 'Black line';
-
-            % Create ZeroseeksLabel
-            app.ZeroseeksLabel = uilabel(app.LeftPanel);
-            app.ZeroseeksLabel.HorizontalAlignment = 'center';
-            app.ZeroseeksLabel.FontSize = 14;
-            app.ZeroseeksLabel.FontWeight = 'bold';
-            app.ZeroseeksLabel.Position = [58 727 103 41];
-            app.ZeroseeksLabel.Text = 'Zero seeks';
-
-            % Create ZeroseekXButton
-            app.ZeroseekXButton = uibutton(app.LeftPanel, 'push');
-            app.ZeroseekXButton.ButtonPushedFcn = createCallbackFcn(app, @ZeroseekXButtonPushed, true);
-            app.ZeroseekXButton.Position = [12 689 98 46];
-            app.ZeroseekXButton.Text = 'Zero seek X';
-
-            % Create ZeroseekYButton
-            app.ZeroseekYButton = uibutton(app.LeftPanel, 'push');
-            app.ZeroseekYButton.ButtonPushedFcn = createCallbackFcn(app, @ZeroseekYButtonPushed, true);
-            app.ZeroseekYButton.Position = [12 637 98 46];
-            app.ZeroseekYButton.Text = 'Zero seek Y';
-
-            % Create ZeroseekZButton
-            app.ZeroseekZButton = uibutton(app.LeftPanel, 'push');
-            app.ZeroseekZButton.ButtonPushedFcn = createCallbackFcn(app, @ZeroseekZButtonPushed, true);
-            app.ZeroseekZButton.Position = [12 585 98 46];
-            app.ZeroseekZButton.Text = 'Zero seek Z';
-
-            % Create AbsLamp_X
-            app.AbsLamp_X = uilamp(app.LeftPanel);
-            app.AbsLamp_X.Position = [192 701 20 20];
-
-            % Create AbsLamp_Z
-            app.AbsLamp_Z = uilamp(app.LeftPanel);
-            app.AbsLamp_Z.Position = [192 598 20 20];
-
-            % Create AbsLamp_Y
-            app.AbsLamp_Y = uilamp(app.LeftPanel);
-            app.AbsLamp_Y.Position = [192 649 20 20];
-
-            % Create GrabberstatusTextArea
-            app.GrabberstatusTextArea = uitextarea(app.LeftPanel);
-            app.GrabberstatusTextArea.HorizontalAlignment = 'center';
-            app.GrabberstatusTextArea.Position = [47 218 128 24];
-
-            % Create AbsoluteXTextArea
-            app.AbsoluteXTextArea = uieditfield(app.LeftPanel, 'text');
-            app.AbsoluteXTextArea.HorizontalAlignment = 'center';
-            app.AbsoluteXTextArea.Position = [118 700 65 22];
-
-            % Create AbsoluteYTextArea
-            app.AbsoluteYTextArea = uieditfield(app.LeftPanel, 'text');
-            app.AbsoluteYTextArea.HorizontalAlignment = 'center';
-            app.AbsoluteYTextArea.Position = [118 648 65 22];
-
-            % Create AbsoluteZTextArea
-            app.AbsoluteZTextArea = uieditfield(app.LeftPanel, 'text');
-            app.AbsoluteZTextArea.HorizontalAlignment = 'center';
-            app.AbsoluteZTextArea.Position = [118 597 65 22];
-
-            % Create StepperstatusLabel
-            app.StepperstatusLabel = uilabel(app.LeftPanel);
-            app.StepperstatusLabel.HorizontalAlignment = 'center';
-            app.StepperstatusLabel.FontSize = 14;
-            app.StepperstatusLabel.FontWeight = 'bold';
-            app.StepperstatusLabel.Position = [58 312 103 41];
-            app.StepperstatusLabel.Text = 'Stepper status';
-
-            % Create StepperStatusTextArea
-            app.StepperStatusTextArea = uieditfield(app.LeftPanel, 'text');
-            app.StepperStatusTextArea.HorizontalAlignment = 'center';
-            app.StepperStatusTextArea.FontSize = 14;
-            app.StepperStatusTextArea.FontWeight = 'bold';
-            app.StepperStatusTextArea.FontColor = [1 0 0];
-            app.StepperStatusTextArea.Position = [26 290 168 24];
-
-            % Create LimitswitchesLabel
-            app.LimitswitchesLabel = uilabel(app.LeftPanel);
-            app.LimitswitchesLabel.HorizontalAlignment = 'center';
-            app.LimitswitchesLabel.FontSize = 14;
-            app.LimitswitchesLabel.FontWeight = 'bold';
-            app.LimitswitchesLabel.Position = [59 543 102 41];
-            app.LimitswitchesLabel.Text = 'Limit switches';
-
-            % Create AbsLamp_X_min
-            app.AbsLamp_X_min = uilamp(app.LeftPanel);
-            app.AbsLamp_X_min.Position = [73 497 16 16];
-            app.AbsLamp_X_min.Color = [0.8 0.8 0.8];
-
-            % Create MinLabel
-            app.MinLabel = uilabel(app.LeftPanel);
-            app.MinLabel.HorizontalAlignment = 'center';
-            app.MinLabel.Position = [64 513 34 41];
-            app.MinLabel.Text = 'Min';
-
-            % Create MaxLabel
-            app.MaxLabel = uilabel(app.LeftPanel);
-            app.MaxLabel.HorizontalAlignment = 'center';
-            app.MaxLabel.Position = [119 513 34 41];
-            app.MaxLabel.Text = 'Max';
-
-            % Create XLabel
-            app.XLabel = uilabel(app.LeftPanel);
-            app.XLabel.HorizontalAlignment = 'center';
-            app.XLabel.Position = [22 485 34 41];
-            app.XLabel.Text = 'X';
-
-            % Create YLabel
-            app.YLabel = uilabel(app.LeftPanel);
-            app.YLabel.HorizontalAlignment = 'center';
-            app.YLabel.Position = [22 452 34 41];
-            app.YLabel.Text = 'Y';
-
-            % Create ZLabel
-            app.ZLabel = uilabel(app.LeftPanel);
-            app.ZLabel.HorizontalAlignment = 'center';
-            app.ZLabel.Position = [22 418 34 41];
-            app.ZLabel.Text = 'Z';
-
-            % Create AbsLamp_Y_min
-            app.AbsLamp_Y_min = uilamp(app.LeftPanel);
-            app.AbsLamp_Y_min.Position = [73 464 16 16];
-            app.AbsLamp_Y_min.Color = [0.8 0.8 0.8];
-
-            % Create AbsLamp_Z_min
-            app.AbsLamp_Z_min = uilamp(app.LeftPanel);
-            app.AbsLamp_Z_min.Position = [73 431 16 16];
-            app.AbsLamp_Z_min.Color = [0.8 0.8 0.8];
-
-            % Create AbsLamp_X_max
-            app.AbsLamp_X_max = uilamp(app.LeftPanel);
-            app.AbsLamp_X_max.Position = [128 497 16 16];
-            app.AbsLamp_X_max.Color = [0.8 0.8 0.8];
-
-            % Create AbsLamp_Y_max
-            app.AbsLamp_Y_max = uilamp(app.LeftPanel);
-            app.AbsLamp_Y_max.Position = [128 464 16 16];
-            app.AbsLamp_Y_max.Color = [0.8 0.8 0.8];
-
-            % Create AbsLamp_Z_max
-            app.AbsLamp_Z_max = uilamp(app.LeftPanel);
-            app.AbsLamp_Z_max.Position = [128 431 16 16];
-            app.AbsLamp_Z_max.Color = [0.8 0.8 0.8];
-
-            % Create GrabberstatusLabel
-            app.GrabberstatusLabel = uilabel(app.LeftPanel);
-            app.GrabberstatusLabel.HorizontalAlignment = 'center';
-            app.GrabberstatusLabel.FontSize = 14;
-            app.GrabberstatusLabel.FontWeight = 'bold';
-            app.GrabberstatusLabel.Position = [58 238 105 41];
-            app.GrabberstatusLabel.Text = 'Grabber status';
-
-
-
-            % Create BlacklineLabel_4
-            app.BlacklineLabel_4 = uilabel(app.LeftPanel);
-            app.BlacklineLabel_4.BackgroundColor = [0 0 0];
-            app.BlacklineLabel_4.FontSize = 2;
-            app.BlacklineLabel_4.Position = [1 578 218 1];
-            app.BlacklineLabel_4.Text = 'Black line';
-
-            % Create GettemperaturesButton
-            app.GettemperaturesButton = uibutton(app.LeftPanel, 'push');
-            app.GettemperaturesButton.ButtonPushedFcn = createCallbackFcn(app, @GettempsButtonPushed, true);
-            app.GettemperaturesButton.Tag = 'button_temps';
-            app.GettemperaturesButton.Position = [67 6 86 36];
-            app.GettemperaturesButton.Text = {'Get '; 'temperatures'};
-
-            % Create BlacklineLabel_5
-            app.BlacklineLabel_5 = uilabel(app.LeftPanel);
-            app.BlacklineLabel_5.BackgroundColor = [0 0 0];
-            app.BlacklineLabel_5.FontSize = 2;
-            app.BlacklineLabel_5.Position = [1 415 218 1];
-            app.BlacklineLabel_5.Text = 'Black line';
-
-            % Create Tempprobe1CLabel
-            app.Tempprobe1CLabel = uilabel(app.LeftPanel);
-            app.Tempprobe1CLabel.Position = [9 87 104 22];
-            app.Tempprobe1CLabel.Text = 'Temp probe 1 (°C)';
-
-            % Create Tempprobe2CLabel
-            app.Tempprobe2CLabel = uilabel(app.LeftPanel);
-            app.Tempprobe2CLabel.Position = [9 49 104 22];
-            app.Tempprobe2CLabel.Text = 'Temp probe 2 (°C)';
-
-            % Create BlacklineLabel_6
-            app.BlacklineLabel_6 = uilabel(app.LeftPanel);
-            app.BlacklineLabel_6.BackgroundColor = [0 0 0];
-            app.BlacklineLabel_6.FontSize = 2;
-            app.BlacklineLabel_6.Position = [1 276 218 1];
-            app.BlacklineLabel_6.Text = 'Black line';
-
-            % Create BlacklineLabel_7
-            app.BlacklineLabel_7 = uilabel(app.LeftPanel);
-            app.BlacklineLabel_7.BackgroundColor = [0 0 0];
-            app.BlacklineLabel_7.FontSize = 2;
-            app.BlacklineLabel_7.Position = [1 148 218 1];
-            app.BlacklineLabel_7.Text = 'Black line';
-
-            % Create BlacklineLabel_8
-            app.BlacklineLabel_8 = uilabel(app.LeftPanel);
-            app.BlacklineLabel_8.BackgroundColor = [0.8 0.8 0.8];
-            app.BlacklineLabel_8.FontSize = 2;
-            app.BlacklineLabel_8.Position = [45 546 129 1];
-            app.BlacklineLabel_8.Text = 'Black line';
-
-            % Create BlacklineLabel_9
-            app.BlacklineLabel_9 = uilabel(app.LeftPanel);
-            app.BlacklineLabel_9.BackgroundColor = [0.8 0.8 0.8];
-            app.BlacklineLabel_9.FontSize = 2;
-            app.BlacklineLabel_9.Position = [65 520 99 1];
-            app.BlacklineLabel_9.Text = 'Black line';
-
-            % Create TemperaturesTextArea_2
-            app.TemperaturesTextArea_2 = uitextarea(app.LeftPanel);
-            app.TemperaturesTextArea_2.ValueChangedFcn = createCallbackFcn(app, @GettempsButtonPushed, true);
-            app.TemperaturesTextArea_2.Editable = 'off';
-            app.TemperaturesTextArea_2.HorizontalAlignment = 'center';
-            app.TemperaturesTextArea_2.Position = [120 48 93 24];
-
-            % Create TemperaturesTextArea
-            app.TemperaturesTextArea = uitextarea(app.LeftPanel);
-            app.TemperaturesTextArea.ValueChangedFcn = createCallbackFcn(app, @GettempsButtonPushed, true);
-            app.TemperaturesTextArea.Editable = 'off';
-            app.TemperaturesTextArea.HorizontalAlignment = 'center';
-            app.TemperaturesTextArea.Position = [119 85 93 24];
-
-            % Create TemperaturesTextAreaLabel
-            app.TemperaturesTextAreaLabel = uilabel(app.LeftPanel);
-            app.TemperaturesTextAreaLabel.HorizontalAlignment = 'right';
-            app.TemperaturesTextAreaLabel.FontSize = 14;
-            app.TemperaturesTextAreaLabel.FontWeight = 'bold';
-            app.TemperaturesTextAreaLabel.Position = [62 123 97 22];
-            app.TemperaturesTextAreaLabel.Text = 'Temperatures';
-
-            % Create UpdatestatusButton
-            app.UpdatestatusButton = uibutton(app.LeftPanel, 'push');
-            app.UpdatestatusButton.ButtonPushedFcn = createCallbackFcn(app, @UpdatestatusButtonPushed, true);
-            app.UpdatestatusButton.FontSize = 18;
-            app.UpdatestatusButton.Position = [49 164 127 29];
-            app.UpdatestatusButton.Text = 'Update status';
-
-            % Create BlacklineLabel_10
-            app.BlacklineLabel_10 = uilabel(app.LeftPanel);
-            app.BlacklineLabel_10.BackgroundColor = [0 0 0];
-            app.BlacklineLabel_10.FontSize = 2;
-            app.BlacklineLabel_10.Position = [1 209 218 1];
-            app.BlacklineLabel_10.Text = 'Black line';
-
-            % Create BlacklineLabel_13
-            app.BlacklineLabel_13 = uilabel(app.LeftPanel);
-            app.BlacklineLabel_13.BackgroundColor = [0 0 0];
-            app.BlacklineLabel_13.FontSize = 2;
-            app.BlacklineLabel_13.Position = [1 353 218 1];
-            app.BlacklineLabel_13.Text = 'Black line';
-
-            % Create EmergencybuttonLabel
-            app.EmergencybuttonLabel = uilabel(app.LeftPanel);
-            app.EmergencybuttonLabel.HorizontalAlignment = 'center';
-            app.EmergencybuttonLabel.FontSize = 14;
-            app.EmergencybuttonLabel.FontWeight = 'bold';
-            app.EmergencybuttonLabel.Position = [45 378 128 41];
-            app.EmergencybuttonLabel.Text = 'Emergency button';
-
-            % Create Emergency_Button
-            app.Emergency_Button = uilamp(app.LeftPanel);
-            app.Emergency_Button.Position = [99 362 20 20];
-
-            % Create CenterPanel
-            app.CenterPanel = uipanel(app.GridLayout);
-            app.CenterPanel.Layout.Row = 1;
-            app.CenterPanel.Layout.Column = 2;
-
-            % Create TabGroup
-            app.TabGroup = uitabgroup(app.CenterPanel);
-            app.TabGroup.TabLocation = 'bottom';
-            app.TabGroup.Position = [7 1 425 808];
-
-            % Create PlotsTab
-            app.PlotsTab = uitab(app.TabGroup);
-            app.PlotsTab.Title = 'Plots';
-
-            % Create UIAxes_4
-            app.UIAxes_4 = uiaxes(app.PlotsTab);
-            title(app.UIAxes_4, 'Position Z/Y')
-            xlabel(app.UIAxes_4, 'Y (steps)')
-            ylabel(app.UIAxes_4, 'Z (steps)')
-            zlabel(app.UIAxes_4, 'Z')
-            app.UIAxes_4.Toolbar.Visible = 'off';
-            app.UIAxes_4.XLim = [0 8000];
-            app.UIAxes_4.YLim = [0 3000];
-            app.UIAxes_4.YDir = 'reverse';
-            app.UIAxes_4.XTick = [0 2000 4000 6000 8000];
-            app.UIAxes_4.XTickLabel = {'0'; '2000'; '4000'; '6000'; '8000'};
-            app.UIAxes_4.YTick = [0 500 1000 1500 2000 2500 3000];
-            app.UIAxes_4.YTickLabel = {'0'; '500'; '1000'; '1500'; '2000'; '2500'; '3000'};
-            app.UIAxes_4.XGrid = 'on';
-            app.UIAxes_4.YGrid = 'on';
-            app.UIAxes_4.FontSize = 12;
-            app.UIAxes_4.Position = [13 6 403 236];
-
-            % Create UIAxes_5
-            app.UIAxes_5 = uiaxes(app.PlotsTab);
-            title(app.UIAxes_5, 'Position Y/X')
-            xlabel(app.UIAxes_5, 'X (steps)')
-            ylabel(app.UIAxes_5, 'Y (steps)')
-            zlabel(app.UIAxes_5, 'Z')
-            app.UIAxes_5.Toolbar.Visible = 'off';
-            app.UIAxes_5.XLim = [0 8000];
-            app.UIAxes_5.YLim = [0 8000];
-            app.UIAxes_5.XTick = [0 2000 4000 6000 8000];
-            app.UIAxes_5.XTickLabel = {'0'; '2000'; '4000'; '6000'; '8000'};
-            app.UIAxes_5.YTick = [0 2000 4000 6000 8000];
-            app.UIAxes_5.YTickLabel = {'0'; '2000'; '4000'; '6000'; '8000'};
-            app.UIAxes_5.XGrid = 'on';
-            app.UIAxes_5.YGrid = 'on';
-            app.UIAxes_5.FontSize = 12;
-            app.UIAxes_5.Position = [13 496 403 238];
-
-            % Create UIAxes_6
-            app.UIAxes_6 = uiaxes(app.PlotsTab);
-            title(app.UIAxes_6, 'Position Z/X')
-            xlabel(app.UIAxes_6, 'X (steps)')
-            ylabel(app.UIAxes_6, 'Z (steps)')
-            zlabel(app.UIAxes_6, 'Z')
-            app.UIAxes_6.Toolbar.Visible = 'off';
-            app.UIAxes_6.XLim = [0 8000];
-            app.UIAxes_6.YLim = [0 3000];
-            app.UIAxes_6.YDir = 'reverse';
-            app.UIAxes_6.XTick = [0 2000 4000 6000 8000];
-            app.UIAxes_6.XTickLabel = {'0'; '2000'; '4000'; '6000'; '8000'};
-            app.UIAxes_6.YTick = [0 500 1000 1500 2000 2500 3000];
-            app.UIAxes_6.YTickLabel = {'0'; '500'; '1000'; '1500'; '2000'; '2500'; '3000'};
-            app.UIAxes_6.XGrid = 'on';
-            app.UIAxes_6.YGrid = 'on';
-            app.UIAxes_6.FontSize = 12;
-            app.UIAxes_6.Position = [13 253 403 238];
-
-            % Create PositionplotsLabel
-            app.PositionplotsLabel = uilabel(app.PlotsTab);
-            app.PositionplotsLabel.HorizontalAlignment = 'center';
-            app.PositionplotsLabel.FontSize = 20;
-            app.PositionplotsLabel.FontWeight = 'bold';
-            app.PositionplotsLabel.Position = [118 745 180 43];
-            app.PositionplotsLabel.Text = 'Position plots';
-
-            % Create BlacklineLabel_11
-            app.BlacklineLabel_11 = uilabel(app.PlotsTab);
-            app.BlacklineLabel_11.BackgroundColor = [0 0 0];
-            app.BlacklineLabel_11.FontSize = 2;
-            app.BlacklineLabel_11.Position = [-3 744 418 2];
-            app.BlacklineLabel_11.Text = 'Black line';
-
-            % Create Image2
-            app.Image2 = uiimage(app.PlotsTab);
-            app.Image2.Position = [13 649 53 77];
-            app.Image2.ImageSource = 'e_beam.png';
-
-            % Create DebugTab
-            app.DebugTab = uitab(app.TabGroup);
-            app.DebugTab.Title = 'Debug';
-
-            % Create RawHistory
-            app.RawHistory = uilistbox(app.DebugTab);
-            app.RawHistory.Items = {};
-            app.RawHistory.FontSize = 10.4;
-            app.RawHistory.Position = [7 9 409 721];
-            app.RawHistory.Value = {};
-
-            % Create DebugLabel
-            app.DebugLabel = uilabel(app.DebugTab);
-            app.DebugLabel.HorizontalAlignment = 'center';
-            app.DebugLabel.FontSize = 20;
-            app.DebugLabel.FontWeight = 'bold';
-            app.DebugLabel.Position = [118 745 180 43];
-            app.DebugLabel.Text = 'Debug';
-
-            % Create BlacklineLabel_12
-            app.BlacklineLabel_12 = uilabel(app.DebugTab);
-            app.BlacklineLabel_12.BackgroundColor = [0 0 0];
-            app.BlacklineLabel_12.FontSize = 2;
-            app.BlacklineLabel_12.Position = [-5 745 435 2];
-            app.BlacklineLabel_12.Text = 'Black line';
-
-            % Create RightPanel
-            app.RightPanel = uipanel(app.GridLayout);
-            app.RightPanel.Layout.Row = 1;
-            app.RightPanel.Layout.Column = 3;
-
-            % Create BringbackholderButton
-            app.BringbackholderButton = uibutton(app.RightPanel, 'push');
-            app.BringbackholderButton.ButtonPushedFcn = createCallbackFcn(app, @BringbackholderButtonPushed, true);
-            app.BringbackholderButton.FontWeight = 'bold';
-            app.BringbackholderButton.Enable = 'off';
-            app.BringbackholderButton.Position = [51 223 132 38];
-            app.BringbackholderButton.Text = 'Bring back holder';
-
-            % Create SelecttheholdertopickupLabel
-            app.SelecttheholdertopickupLabel = uilabel(app.RightPanel);
-            app.SelecttheholdertopickupLabel.HorizontalAlignment = 'center';
-            app.SelecttheholdertopickupLabel.FontSize = 14;
-            app.SelecttheholdertopickupLabel.FontWeight = 'bold';
-            app.SelecttheholdertopickupLabel.Position = [24 725 188 38];
-            app.SelecttheholdertopickupLabel.Text = 'Select the holder to pick up';
-
-            % Create ControlsLabel
-            app.ControlsLabel = uilabel(app.RightPanel);
-            app.ControlsLabel.HorizontalAlignment = 'center';
-            app.ControlsLabel.FontSize = 20;
-            app.ControlsLabel.FontWeight = 'bold';
-            app.ControlsLabel.Position = [22 767 180 43];
-            app.ControlsLabel.Text = 'Controls';
-
-            % Create BlacklineLabel_3
-            app.BlacklineLabel_3 = uilabel(app.RightPanel);
-            app.BlacklineLabel_3.BackgroundColor = [0 0 0];
-            app.BlacklineLabel_3.FontSize = 2;
-            app.BlacklineLabel_3.Position = [1 769 218 2];
-            app.BlacklineLabel_3.Text = 'Black line';
-
-            % Create PutHolderInBeam
-            app.PutHolderInBeam = uibutton(app.RightPanel, 'push');
-            app.PutHolderInBeam.ButtonPushedFcn = createCallbackFcn(app, @PutHolderInBeamPushed, true);
-            app.PutHolderInBeam.FontWeight = 'bold';
-            app.PutHolderInBeam.Position = [55 269 124 38];
-            app.PutHolderInBeam.Text = 'Put holder in beam';
-
-
-            % Create XpositioninbeammmEditFieldLabel
-            app.XpositioninbeammmEditFieldLabel = uilabel(app.RightPanel);
-            app.XpositioninbeammmEditFieldLabel.HorizontalAlignment = 'center';
-            app.XpositioninbeammmEditFieldLabel.Position = [49 318 80 28];
-            app.XpositioninbeammmEditFieldLabel.Text = {'X position '; 'in beam (mm)'};
-
-            % Create XpositioninbeammmEditField
-            app.XpositioninbeammmEditField = uieditfield(app.RightPanel, 'numeric');
-            app.XpositioninbeammmEditField.HorizontalAlignment = 'center';
-            app.XpositioninbeammmEditField.Position = [135 321 54 22];
-            app.XpositioninbeammmEditField.Value = 200;
-
-            % Create Panel
-            app.Panel = uipanel(app.RightPanel);
-            app.Panel.Position = [20 363 194 364];
-
-            % Create GridLayout2
-            app.GridLayout2 = uigridlayout(app.Panel);
-            app.GridLayout2.ColumnWidth = {80, 80};
-            app.GridLayout2.RowHeight = {'1x', '1x', '1x', '1x', '1x', '1x', '1x', '1x', '1x', '1x', '1x', '1x', '1x', '1x', '1x', '1x'};
-            app.GridLayout2.RowSpacing = 2;
-            app.GridLayout2.Padding = [10 0 0 0];
-            
-        
-
-            % Create GrabHolder_01
-            app.GrabHolder_01 = uibutton(app.GridLayout2, 'state');
-            app.GrabHolder_01.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
-            app.GrabHolder_01.Text = '1';
-            app.GrabHolder_01.Layout.Row = 1;
-            app.GrabHolder_01.Layout.Column = 1;
-
-            % Create GrabHolder_02
-            app.GrabHolder_02 = uibutton(app.GridLayout2, 'state');
-            app.GrabHolder_02.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
-            app.GrabHolder_02.Text = '2';
-            app.GrabHolder_02.Layout.Row = 1;
-            app.GrabHolder_02.Layout.Column = 2;
-
-            % Create GrabHolder_03
-            app.GrabHolder_03 = uibutton(app.GridLayout2, 'state');
-            app.GrabHolder_03.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
-            app.GrabHolder_03.Text = '3';
-            app.GrabHolder_03.Layout.Row = 2;
-            app.GrabHolder_03.Layout.Column = 1;
-
-            % Create GrabHolder_04
-            app.GrabHolder_04 = uibutton(app.GridLayout2, 'state');
-            app.GrabHolder_04.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
-            app.GrabHolder_04.Text = '4';
-            app.GrabHolder_04.Layout.Row = 2;
-            app.GrabHolder_04.Layout.Column = 2;
-
-            % Create GrabHolder_05
-            app.GrabHolder_05 = uibutton(app.GridLayout2, 'state');
-            app.GrabHolder_05.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
-            app.GrabHolder_05.Text = '5';
-            app.GrabHolder_05.Layout.Row = 3;
-            app.GrabHolder_05.Layout.Column = 1;
-
-            % Create GrabHolder_06
-            app.GrabHolder_06 = uibutton(app.GridLayout2, 'state');
-            app.GrabHolder_06.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
-            app.GrabHolder_06.Text = '6';
-            app.GrabHolder_06.Layout.Row = 3;
-            app.GrabHolder_06.Layout.Column = 2;
-
-            % Create GrabHolder_07
-            app.GrabHolder_07 = uibutton(app.GridLayout2, 'state');
-            app.GrabHolder_07.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
-            app.GrabHolder_07.Text = '7';
-            app.GrabHolder_07.Layout.Row = 4;
-            app.GrabHolder_07.Layout.Column = 1;
-
-            % Create GrabHolder_08
-            app.GrabHolder_08 = uibutton(app.GridLayout2, 'state');
-            app.GrabHolder_08.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
-            app.GrabHolder_08.Text = '8';
-            app.GrabHolder_08.Layout.Row = 4;
-            app.GrabHolder_08.Layout.Column = 2;
-
-            % Create GrabHolder_09
-            app.GrabHolder_09 = uibutton(app.GridLayout2, 'state');
-            app.GrabHolder_09.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
-            app.GrabHolder_09.Text = '9';
-            app.GrabHolder_09.Layout.Row = 5;
-            app.GrabHolder_09.Layout.Column = 1;
-
-            % Create GrabHolder_10
-            app.GrabHolder_10 = uibutton(app.GridLayout2, 'state');
-            app.GrabHolder_10.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
-            app.GrabHolder_10.Text = '10';
-            app.GrabHolder_10.Layout.Row = 5;
-            app.GrabHolder_10.Layout.Column = 2;
-
-            % Create GrabHolder_11
-            app.GrabHolder_11 = uibutton(app.GridLayout2, 'state');
-            app.GrabHolder_11.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
-            app.GrabHolder_11.Text = '11';
-            app.GrabHolder_11.Layout.Row = 6;
-            app.GrabHolder_11.Layout.Column = 1;
-
-            % Create GrabHolder_13
-            app.GrabHolder_13 = uibutton(app.GridLayout2, 'state');
-            app.GrabHolder_13.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
-            app.GrabHolder_13.Text = '13';
-            app.GrabHolder_13.Layout.Row = 7;
-            app.GrabHolder_13.Layout.Column = 1;
-
-            % Create GrabHolder_14
-            app.GrabHolder_14 = uibutton(app.GridLayout2, 'state');
-            app.GrabHolder_14.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
-            app.GrabHolder_14.Text = '14';
-            app.GrabHolder_14.Layout.Row = 7;
-            app.GrabHolder_14.Layout.Column = 2;
-
-            % Create GrabHolder_15
-            app.GrabHolder_15 = uibutton(app.GridLayout2, 'state');
-            app.GrabHolder_15.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
-            app.GrabHolder_15.Text = '15';
-            app.GrabHolder_15.Layout.Row = 8;
-            app.GrabHolder_15.Layout.Column = 1;
-
-            % Create GrabHolder_16
-            app.GrabHolder_16 = uibutton(app.GridLayout2, 'state');
-            app.GrabHolder_16.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
-            app.GrabHolder_16.Text = '16';
-            app.GrabHolder_16.Layout.Row = 8;
-            app.GrabHolder_16.Layout.Column = 2;
-
-            % Create GrabHolder_17
-            app.GrabHolder_17 = uibutton(app.GridLayout2, 'state');
-            app.GrabHolder_17.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
-            app.GrabHolder_17.Text = '17';
-            app.GrabHolder_17.Layout.Row = 9;
-            app.GrabHolder_17.Layout.Column = 1;
-
-            % Create GrabHolder_18
-            app.GrabHolder_18 = uibutton(app.GridLayout2, 'state');
-            app.GrabHolder_18.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
-            app.GrabHolder_18.Text = '18';
-            app.GrabHolder_18.Layout.Row = 9;
-            app.GrabHolder_18.Layout.Column = 2;
-
-            % Create GrabHolder_19
-            app.GrabHolder_19 = uibutton(app.GridLayout2, 'state');
-            app.GrabHolder_19.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
-            app.GrabHolder_19.Text = '19';
-            app.GrabHolder_19.Layout.Row = 10;
-            app.GrabHolder_19.Layout.Column = 1;
-
-            % Create GrabHolder_20
-            app.GrabHolder_20 = uibutton(app.GridLayout2, 'state');
-            app.GrabHolder_20.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
-            app.GrabHolder_20.Text = '20';
-            app.GrabHolder_20.Layout.Row = 10;
-            app.GrabHolder_20.Layout.Column = 2;
-
-            % Create GrabHolder_21
-            app.GrabHolder_21 = uibutton(app.GridLayout2, 'state');
-            app.GrabHolder_21.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
-            app.GrabHolder_21.Text = '21';
-            app.GrabHolder_21.Layout.Row = 11;
-            app.GrabHolder_21.Layout.Column = 1;
-
-            % Create GrabHolder_22
-            app.GrabHolder_22 = uibutton(app.GridLayout2, 'state');
-            app.GrabHolder_22.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
-            app.GrabHolder_22.Text = '22';
-            app.GrabHolder_22.Layout.Row = 11;
-            app.GrabHolder_22.Layout.Column = 2;
-
-            % Create GrabHolder_24
-            app.GrabHolder_24 = uibutton(app.GridLayout2, 'state');
-            app.GrabHolder_24.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
-            app.GrabHolder_24.Text = '24';
-            app.GrabHolder_24.Layout.Row = 12;
-            app.GrabHolder_24.Layout.Column = 2;
-
-            % Create GrabHolder_12
-            app.GrabHolder_12 = uibutton(app.GridLayout2, 'state');
-            app.GrabHolder_12.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
-            app.GrabHolder_12.Text = '12';
-            app.GrabHolder_12.Layout.Row = 6;
-            app.GrabHolder_12.Layout.Column = 2;
-
-            % Create GrabHolder_23
-            app.GrabHolder_23 = uibutton(app.GridLayout2, 'state');
-            app.GrabHolder_23.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
-            app.GrabHolder_23.Text = '23';
-            app.GrabHolder_23.Layout.Row = 12;
-            app.GrabHolder_23.Layout.Column = 1;
-
-            % Create GrabHolder_25
-            app.GrabHolder_25 = uibutton(app.GridLayout2, 'state');
-            app.GrabHolder_25.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
-            app.GrabHolder_25.Text = '25';
-            app.GrabHolder_25.Layout.Row = 13;
-            app.GrabHolder_25.Layout.Column = 1;
-
-            % Create GrabHolder_26
-            app.GrabHolder_26 = uibutton(app.GridLayout2, 'state');
-            app.GrabHolder_26.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
-            app.GrabHolder_26.Text = '26';
-            app.GrabHolder_26.Layout.Row = 13;
-            app.GrabHolder_26.Layout.Column = 2;
-
-            % Create GrabHolder_27
-            app.GrabHolder_27 = uibutton(app.GridLayout2, 'state');
-            app.GrabHolder_27.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
-            app.GrabHolder_27.Text = '27';
-            app.GrabHolder_27.Layout.Row = 14;
-            app.GrabHolder_27.Layout.Column = 1;
-
-            % Create GrabHolder_28
-            app.GrabHolder_28 = uibutton(app.GridLayout2, 'state');
-            app.GrabHolder_28.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
-            app.GrabHolder_28.Text = '28';
-            app.GrabHolder_28.Layout.Row = 14;
-            app.GrabHolder_28.Layout.Column = 2;
-
-            % Create GrabHolder_29
-            app.GrabHolder_29 = uibutton(app.GridLayout2, 'state');
-            app.GrabHolder_29.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
-            app.GrabHolder_29.Text = '29';
-            app.GrabHolder_29.Layout.Row = 15;
-            app.GrabHolder_29.Layout.Column = 1;
-
-            % Create GrabHolder_30
-            app.GrabHolder_30 = uibutton(app.GridLayout2, 'state');
-            app.GrabHolder_30.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
-            app.GrabHolder_30.Text = '30';
-            app.GrabHolder_30.Layout.Row = 15;
-            app.GrabHolder_30.Layout.Column = 2;
-
-            % Create GrabHolder_31
-            app.GrabHolder_31 = uibutton(app.GridLayout2, 'state');
-            app.GrabHolder_31.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
-            app.GrabHolder_31.Text = '31';
-            app.GrabHolder_31.Layout.Row = 16;
-            app.GrabHolder_31.Layout.Column = 1;
-
-            % Create GrabHolder_32
-            app.GrabHolder_32 = uibutton(app.GridLayout2, 'state');
-            app.GrabHolder_32.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
-            app.GrabHolder_32.Text = '32';
-            app.GrabHolder_32.Layout.Row = 16;
-            app.GrabHolder_32.Layout.Column = 2;
-            
-            
-            app.BringbackholderButton.Position = [51 223 132 38];
-            
-            
-            
-            filterLabelHalfWidth=40;
-            filterLabelHeight=20;
-            filterLabelPad=25;
-            panelMidPoint=109;
-            % Create line above filter label
-            app.BlackLine1 = uilabel(app.RightPanel);
-            app.BlackLine1.BackgroundColor = [0 0 0];
-            app.BlackLine1.FontSize = 1;
-            app.BlackLine1.Position = [1 210 panelMidPoint*2 2];
-            app.BlackLine1.Text = '-';
-
-            %filterLabelPos = [panelMidPoint-filterLabelPad-2*filterLabelWidth panelMidPoint+filterLabelPad ]; %horizontal positions
-            %for filter = 1:length(filterlabelPos) %length(app.grabHolderButts)
-
-            %Filter1
-            app.FilterLabel1 = uilabel(app.RightPanel);
-            app.FilterLabel1.HorizontalAlignment = 'center';
-            app.FilterLabel1.FontSize = 14;
-            app.FilterLabel1.FontWeight = 'bold';
-            app.FilterLabel1.Position = [panelMidPoint-filterLabelPad-2*filterLabelHalfWidth+15 185 2*filterLabelHalfWidth filterLabelHeight];
-            app.FilterLabel1.Text = 'Filter 1';
-
-            % Create FilterINButtons
-            app.Filter1INButton = uibutton(app.RightPanel, 'push');
-            app.Filter1INButton.ButtonPushedFcn = createCallbackFcn(app, @Filter1INButtonPushed, true);
-            app.Filter1INButton.Position = [panelMidPoint-filterLabelPad-2*filterLabelHalfWidth+15 160 30 22];
-            app.Filter1INButton.Text = 'IN';
-
-            % Create FilterOUTButtons
-            app.Filter1OUTButton = uibutton(app.RightPanel, 'push');
-            app.Filter1OUTButton.ButtonPushedFcn = createCallbackFcn(app, @Filter1OUTButtonPushed, true);
-            app.Filter1OUTButton.Position = [panelMidPoint-filterLabelPad-2*filterLabelHalfWidth+filterLabelHalfWidth+15 160 40 22];
-            app.Filter1OUTButton.Text = 'OUT';
-            
-
-            %Filter2
-            app.FilterLabel2 = uilabel(app.RightPanel);
-            app.FilterLabel2.HorizontalAlignment = 'center';
-            app.FilterLabel2.FontSize = 14;
-            app.FilterLabel2.FontWeight = 'bold';
-            app.FilterLabel2.Position = [panelMidPoint+filterLabelPad 185 2*filterLabelHalfWidth filterLabelHeight];
-            app.FilterLabel2.Text = 'Filter 2';
-
-            % Create FilterINButton
-            app.Filter2INButton = uibutton(app.RightPanel, 'push');
-            app.Filter2INButton.ButtonPushedFcn = createCallbackFcn(app, @Filter2INButtonPushed, true);
-            app.Filter2INButton.Position = [panelMidPoint+filterLabelPad 160 30 22];
-            app.Filter2INButton.Text = 'IN';
-
-            % Create FilterOUTButton
-            app.Filter2OUTButton = uibutton(app.RightPanel, 'push');
-            app.Filter2OUTButton.ButtonPushedFcn = createCallbackFcn(app, @Filter2OUTButtonPushed, true);
-            app.Filter2OUTButton.Position = [panelMidPoint+filterLabelPad+filterLabelHalfWidth 160 40 22];
-            app.Filter2OUTButton.Text = 'OUT';
-
-             % Create line below filters
-            app.BlackLine3 = uilabel(app.RightPanel);
-            app.BlackLine3.BackgroundColor = [0 0 0];
-            app.BlackLine3.FontSize = 1;
-            app.BlackLine3.Position = [1 145 panelMidPoint*2 2];
-            app.BlackLine3.Text = '-';
-           
-
-            
-            % Create LastCommandTextAreaLabel
-            app.LastCommandTextAreaLabel = uilabel(app.RightPanel);
-            app.LastCommandTextAreaLabel.HorizontalAlignment = 'center';
-            app.LastCommandTextAreaLabel.Position = [10 110 61 28];
-            app.LastCommandTextAreaLabel.Text = {'Last'; 'Command'};
-
-            % Create LastCommandTextArea
-            app.LastCommandTextArea = uitextarea(app.RightPanel);
-            app.LastCommandTextArea.FontSize = 10;
-            app.LastCommandTextArea.Position = [74 110 134 20];
-
-            
-            % Create Image
-            %app.Image = uiimage(app.RightPanel);
-            %app.Image.Position = [33 7 170 123];
-            %app.Image.ImageSource = 'C-ROBOT_v4.png';
-
-           
-
-            % Show the figure after all components are created
-            app.UIFigure.Visible = 'on';
-        end
-    end
-
-    % App creation and deletion
-    methods (Access = public)
-
-        % Construct app
-        function app = Robot_GUI_exported
-
-            % Create UIFigure and components
-            createComponents(app)
-
-            % Register the app with App Designer
-            registerApp(app, app.UIFigure)
-
-            % Execute the startup function
-            runStartupFcn(app, @startupFcn)
-
-            if nargout == 0
-                clear app
-            end
-        end
-
-        % Code that executes before app deletion
-        function delete(app)
-
-            % Delete UIFigure when app is deleted
-            delete(app.UIFigure)
-        end
-    end
-end
\ No newline at end of file