LEGO Mindstorms and inverse kinematics?

Hello, I am working with LEGO Mindstorms and I have two questions about the MATLAB Lego toolbox (RWTH).

1) I want to control the LEGO robot arm I built (2 DOF) directly and continuously from MATLAB. Basically, I want to be able to send the robot some coordinates of the end position, and watch it move to the desired point (via transformation matrices and inverse kinematics). Is this even possible? Because so far I've only found examples of commands like "move the motor A for tot degrees with power X", but I would like to send command like "move motors A and B such that you achieve desired position".

2) If this is possible, the question would be how to use the COM_CreatePacket function? I don't quite understand its inputs. I want to send a vector of coordinates of the desired end position.

Thank you!