diff --git a/Matlab_Octave_API/___librador/librador/usbcallhandler.cpp b/Matlab_Octave_API/___librador/librador/usbcallhandler.cpp
index 17acb3e5..f59aa917 100644
--- a/Matlab_Octave_API/___librador/librador/usbcallhandler.cpp
+++ b/Matlab_Octave_API/___librador/librador/usbcallhandler.cpp
@@ -1,10 +1,48 @@
 #include "usbcallhandler.h"
 #include <stdio.h>
 
+static void LIBUSB_CALL isoCallback(struct libusb_transfer * transfer){
+
+    //Thread mutex??
+
+    if(transfer->status!=LIBUSB_TRANSFER_CANCELLED){
+        printf("Copy the data...\n");
+
+        printf("Re-arm the endpoint...\n");
+        int error = libusb_submit_transfer(transfer);
+        if(error){
+            printf("Error re-arming the endpoint!\n");
+        }
+    }
+    return;
+}
+
+void usb_polling_function(libusb_context *ctx){
+    printf("usb_polling_function thread spawned\n");
+    struct timeval tv;
+    tv.tv_sec = 2;
+    tv.tv_usec = 0;
+    while(1){
+        printf("usb_polling_function begin loop\n");
+        if(libusb_event_handling_ok(ctx)){
+            libusb_handle_events_timeout(ctx, &tv);
+        }
+    }
+}
+
 usbCallHandler::usbCallHandler(unsigned short VID_in, unsigned short PID_in)
 {
     VID = VID_in;
     PID = PID_in;
+
+    for(int k=0; k<NUM_ISO_ENDPOINTS; k++){
+        pipeID[k] = 0x81+k;
+        printf("pipeID %d = %d\n", k, pipeID[k]);
+    }
+}
+
+usbCallHandler::~usbCallHandler(){
+    //Kill off usb_polling_thread.  Maybe join then get it to detect its own timeout condition.
 }
 
 
@@ -49,6 +87,23 @@ int usbCallHandler::setup_usb_control(){
 }
 
 int usbCallHandler::setup_usb_iso(){
+    int error;
+    printf("usbCallHandler::setup_usb_iso()\n");
+
+    for(int n=0;n<NUM_FUTURE_CTX;n++){
+        for (unsigned char k=0;k<NUM_ISO_ENDPOINTS;k++){
+            isoCtx[k][n] = libusb_alloc_transfer(ISO_PACKETS_PER_CTX);
+            libusb_fill_iso_transfer(isoCtx[k][n], handle, pipeID[k], dataBuffer[k][n], ISO_PACKET_SIZE*ISO_PACKETS_PER_CTX, ISO_PACKETS_PER_CTX, isoCallback, NULL, 4000);
+            libusb_set_iso_packet_lengths(isoCtx[k][n], ISO_PACKET_SIZE);
+            error = libusb_submit_transfer(isoCtx[k][n]);
+            if(error){
+                printf("libusb_submit_transfer #%d:%d FAILED with error %d %s\n", n, k, error, libusb_error_name(error));
+                return error;
+            }
+        }
+    }
+
+    usb_polling_thread = new std::thread(usb_polling_function, ctx);
     return 0;
 }
 
diff --git a/Matlab_Octave_API/___librador/librador/usbcallhandler.h b/Matlab_Octave_API/___librador/librador/usbcallhandler.h
index c71d93b7..eac9c53a 100644
--- a/Matlab_Octave_API/___librador/librador/usbcallhandler.h
+++ b/Matlab_Octave_API/___librador/librador/usbcallhandler.h
@@ -2,6 +2,12 @@
 #define USBCALLHANDLER_H
 
 #include "libusb.h"
+#include <thread>
+
+#define NUM_ISO_ENDPOINTS 1
+#define NUM_FUTURE_CTX 4
+#define ISO_PACKET_SIZE 750
+#define ISO_PACKETS_PER_CTX 33
 
 //EVERYTHING MUST BE SENT ONE BYTE AT A TIME, HIGH AND LOW BYTES SEPARATE, IN ORDER TO AVOID ISSUES WITH ENDIANNESS.
 typedef struct uds{
@@ -31,6 +37,7 @@ class usbCallHandler
 {
 public:
     usbCallHandler(unsigned short VID_in, unsigned short PID_in);
+    ~usbCallHandler();
     int setup_usb_control();
     int setup_usb_iso();
     int send_control_transfer(uint8_t RequestType, uint8_t Request, uint16_t Value, uint16_t Index, uint16_t Length, unsigned char *LDATA);
@@ -41,6 +48,12 @@ private:
     libusb_context *ctx = NULL;
     libusb_device_handle *handle = NULL;
     unsigned char inBuffer[256];
+
+    //USBIso Vars
+    unsigned char pipeID[NUM_ISO_ENDPOINTS];
+    libusb_transfer *isoCtx[NUM_ISO_ENDPOINTS][NUM_FUTURE_CTX];
+    unsigned char dataBuffer[NUM_ISO_ENDPOINTS][NUM_FUTURE_CTX][ISO_PACKET_SIZE*ISO_PACKETS_PER_CTX];
+    std::thread *usb_polling_thread;
 };
 
 #endif // USBCALLHANDLER_H