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@hagino3000
Created July 19, 2011 15:14
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Control Kinect tilt motor by OpenNI USB Interface
#include <stdlib.h>
#include <stdexcept>
#include <iostream>
#include <XnCppWrapper.h>
#include <XnUSB.h>
#define VID_MICROSOFT 0x45e
#define PID_NUI_MOTOR 0x02b0
XN_USB_DEV_HANDLE dev;
void errorCheck(XnStatus rc) {
if (rc != XN_STATUS_OK) {
std::cout << xnGetStatusString(rc) << std::endl;
throw std::runtime_error("Error");
}
}
int main (int argc, char * const argv[]) {
int angle;
if (argc == 1) {
angle = 0;
} else {
// Use program argument
angle = atoi(argv[1]);
}
XnStatus rc = XN_STATUS_OK;
rc = xnUSBInit();
errorCheck(rc);
rc = xnUSBOpenDevice(VID_MICROSOFT, PID_NUI_MOTOR, NULL, NULL, &dev);
errorCheck(rc);
XnUChar empty[0x1];
angle = angle * 2;
rc = xnUSBSendControl(dev,
XN_USB_CONTROL_TYPE_VENDOR,
0x31,
(XnUInt16)angle,
0x0,
empty,
0x0, 0);
errorCheck(rc);
rc = xnUSBCloseDevice(dev);
errorCheck(rc);
return 0;
}
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