diff --git a/netFT_getFreshData.m b/netFT_getFreshData.m
index 652fc88..17ebc3e 100644
--- a/netFT_getFreshData.m
+++ b/netFT_getFreshData.m
@@ -1,9 +1,12 @@
 function [ ftdata ] = netFT_getFreshData( u, ft_offset )
-%get the most recent force/torque data from the sensor and return after
-%offset compensation
+% get the most recent force/torque data from the sensor and return after
+% offset compensation
+% 1:4 = rdt_sequence    / 5:8 = ft_sequence     / 9:12 = status
+% 13:16 = Fx            / 17:20 = Fy            / 21:24 = Fz
+% 25:28 = Tx            / 29:32 = Ty            / 33:36 = Tz
 
-flushinput(u)
-data = fscanf(u);
-ftdata = netFT_DataConversion(data)-ft_offset;
-end
+flush(u, "input")
+data = read(u, 36);
+ftdata = netFT_DataConversion(data) - ft_offset;
 
+end
\ No newline at end of file
diff --git a/netFT_getOffset.m b/netFT_getOffset.m
index bb2d76c..07fe549 100644
--- a/netFT_getOffset.m
+++ b/netFT_getOffset.m
@@ -2,8 +2,8 @@
 %get offsets and return as 1x6 vector
 
 ft_offset = zeros(1,6);
-for i = 1:numOffsetSamples
-    ft_offset = ft_offset + netFT_getFreshData(u,0)/numOffsetSamples;
-end
-end
+    for i = 1:numOffsetSamples
+        ft_offset = ft_offset + netFT_getFreshData(u,0) / numOffsetSamples;
+    end
 
+end
\ No newline at end of file
diff --git a/netFT_openConnection.m b/netFT_openConnection.m
index c4a3dcf..6e9077e 100644
--- a/netFT_openConnection.m
+++ b/netFT_openConnection.m
@@ -1,9 +1,5 @@
 function [ u ] = netFT_openConnection(  )
 %Open and return a UDP connection to the Sensor
 
-netFT = '192.168.1.1';
-port = 49152;
-u = udp(netFT,port);
-fopen(u);
-end
-
+u = udpport('byte', 'IPV4');
+end
\ No newline at end of file
diff --git a/netFT_startStreaming.m b/netFT_startStreaming.m
index ad9580a..f1cdb8e 100644
--- a/netFT_startStreaming.m
+++ b/netFT_startStreaming.m
@@ -1,8 +1,10 @@
 function [  ] = netFT_startStreaming( u )
-%send the start streaming command
+% send the start streaming command
 
 startRequest = ['12';'34';'00';'02';'00';'00';'00';'00'];
 startCommand = hexlistToString(startRequest);
-fwrite(u, startCommand) % send message to start rdt streaming
-end
+netFT = "192.168.1.1";
+port = 49152;
+write(u, startCommand, "string", netFT, port) % send message to start rdt streaming
 
+end
\ No newline at end of file
diff --git a/netFT_stopStreaming.m b/netFT_stopStreaming.m
index f8fe6a9..979af3b 100644
--- a/netFT_stopStreaming.m
+++ b/netFT_stopStreaming.m
@@ -3,6 +3,8 @@
 
 stopRequest = ['12';'34';'00';'00';'00';'00';'00';'00'];
 stopCommand = hexlistToString(stopRequest);
-fwrite(u, stopCommand) % send message to stop rdt streaming
-end
+netFT = "192.168.1.1";
+port = 49152;
+write(u, stopCommand, "string", netFT, port) % send message to stop rdt streaming
 
+end
\ No newline at end of file