function build_mtt_demo(varargin)

%Build motion_turtle_mtt_demo.mdl.



%% init
curdir_init = pwd;
addpathrobocup;


%remove old executable and build directories
cd /home/robocup/svn/trunk/src/Turtle2/Motion
try
    warning('off','MATLAB:DELETE:FileNotFound');
    delete('mtt2');
    warning('on','MATLAB:DELETE:FileNotFound');
    rmdir('slprj','s');
    rmdir('mtt2*','s');
    disp('old executable and build directories have been removed')
catch
end

%load settings
init_mtt_demo();
svnver=100;

%% set rtw parameters
%load motion scheme
load_system('motion_turtle_mtt_demo');
cs = getActiveConfigSet('motion_turtle_mtt_demo');


%set the rtw custom code properties
set_param(cs,'CustomInclude',['../Libs/kinect/include ../Libs/voronoi ./src ../Libs/ipcomm2 ../Libs/GeneralFunctions ../Libs/multicast ../Global_par ../Motion/src/refbox_handler/ ../Motion/src/role_handler/ ../Motion/src/pass_handler/ ../Motion/src/mu_positioning_lib/ ../Motion/src/strategy_handler/ /usr/local/include/gsl/ /usr/local/lib/ /usr/lib/ /usr/local/include/c_urg/ ./src/LaserRangeFinder/include/ ./src/LaserRangeFinder/ ' buspath])
set_param(cs,'CustomLibrary','/usr/local/lib/libfreenect.so /usr/lib/libvoronoi.so /usr/lib/libipcomm2_server.so /usr/lib/librtdb.so /usr/lib/libgeneral_functions.a /usr/lib/libmu.a  /usr/local/lib/libgslcblas.so /usr/local/lib/libgsl.so /usr/local/lib/libc_urg.so /usr/local/lib/libc_urg_connection.so /usr/local/lib/libc_urg_system.so ')

%change the Simulink target file and make options
% switchTarget(cs,'mttarget.tlc',[]);
set_param(cs,'TemplateMakefile','mtt_unix.tmf')
set_param(cs,'MakeCommand',['make_rtw CC="ccache gcc" OPTS="-DNO_EC -DSIMULATOR -DNETIF_ID=1 -DPRIO=99 -D_GNU_SOURCE -DSVN_VER=',num2str(svnver),'"'])
set_param(cs,'RTWCompilerOptimization','Custom');
set_param(cs,'RTWCustomCompilerOptimizations','-O2 -g -W');

%set external mode properties
set_param(cs,'ExtMode','off')
set_param(cs,'GenerateSampleERTMain', 'off');

%save and close the system
save_system('motion_turtle_mtt_demo');
close_system('motion_turtle_mtt_demo');

%% build executable

rtwbuild('motion_turtle_mtt_demo')

cd(curdir_init);