function [s1, fireString, theta] = hokuyoNavLabInit(COMM_PORT)
% Supply com port Number
% returns a serial port object, a firing string and set of angles (rad)
% zero is forward, positive CCW loooking down on laser


% set up serial comms,   baud rate must start at 19200 but can be tweaked
% later
% output buffer must be big enough to take whole scan

%% clean up old serial port
warning off
comm = strcat('COM', num2str(COMM_PORT));
a = instrfind('port',comm);
if ~isempty(a)
    disp('That com port is in use.   Closing it.')
%     name = get(a, 'Tag')
%     if strcmp(name, 'Hokuyo')
% 	fopen(a)
%         fprintf(a,'S0192000000000');
%         confirmation = char(fread(a,2000))
%     end
    fclose(a)
    delete(a)
end

        

%% open new serial port
disp('Creating connection....')
s1 = serial(comm,'BaudRate', 19200);
set(s1,'Terminator','LF');
set(s1,'InputBufferSize',2000);
set(s1, 'Timeout', 1);
set(s1, 'Tag', 'Hokuyo')

disp('Opening connection...')
fopen(s1);

disp('Turning laser on....')
% turn laser on
fprintf(s1,'L1');
confirmation = char(fread(s1,6));
if isempty(confirmation) || confirmation(4)~='0'
    confirmation
    disp('Error initializing laser or serial port.   Check port number and connection.   Try power cylcing laser.');
    return
end

%% Establish 115200 baud rate
%fprintf(s1,'S1152000000000');
%confirmation = char(fread(s1,20));
%if confirmation(16)~='0'
%    disp('Error initializing baud Rate.   Try power cycling laser.');
%    return
%end

%set(s1,'BaudRate', 115200);

% flushing buffer
%confirmation = char(fread(s1,2000));

% Should see command echo and a 0 indicating all is well, Expecting 6
% characters...


%% set up angular resolution
% this is what manual indicates range of sweep should be
% for some reason the data gets sent in reverse order (starting w/ positive
% theta)
% count = (theta(deg)+135)*384/135
% theta(deg) = count*135/384-135
disp('Creating angles....')
theta = [fliplr( pi/180*(0.3515625*[128:14:632] - 135) )];
fireString = strcat('G12863214');

disp('Flush buffer....')
while (s1.BytesAvailable()~=0)
    fread(s1,1)
end