Easy way to work with Kinect's motor, through OpenNI.

openni_motor.cpp

// Here is easy way to work with Kinect's motor, through OpenNI. No other
// drivers or libraries is required.
// The code is following:

// OpenNI includes
#include <XnUSB.h>
// Standard includes
#include <stdio.h>
#include <time.h>
/**
 * Class to control Kinect's motor.
*/
class KinectMotor
{
public:
	KinectMotor();
	virtual ~KinectMotor();
	/**
	 * Open device.
	 * @return true if succeeded, false - overwise
	 */
	bool Open();
	/**
	 * Close device.
	 */
	void Close();
	/**
	 * Move motor up or down to specified angle value.
	 * @param angle angle value
	 * @return true if succeeded, false - overwise
	 */
	bool Move(int angle);
private:
	XN_USB_DEV_HANDLE m_dev;
	bool m_isOpen;
};

KinectMotor::KinectMotor()
{
	m_isOpen = false;
}

KinectMotor::~KinectMotor()
{
	Close();
}

bool KinectMotor::Open()
{
	const XnUSBConnectionString *paths;
	XnUInt32 count;
	XnStatus res;
	// Init OpenNI USB
	res = xnUSBInit();
	if (res != XN_STATUS_OK) {
		xnPrintError(res, "xnUSBInit failed");
		return false;
	}
	// Open "Kinect motor" USB device
	res = xnUSBEnumerateDevices(0x045E /* VendorID */, 0x02B0 /*ProductID
															   */, &paths, &count);
	if (res != XN_STATUS_OK) {
		xnPrintError(res, "xnUSBEnumerateDevices failed");
		return false;
	}
	// Open first found device
	res = xnUSBOpenDeviceByPath(paths[0], &m_dev);
	if (res != XN_STATUS_OK) {
		xnPrintError(res, "xnUSBOpenDeviceByPath failed");
		return false;
	}
	XnUChar buf[1]; // output buffer
	// Init motor
	res = xnUSBSendControl(m_dev, (XnUSBControlType) 0xc0, 0x10, 0x00,
						   0x00, buf, sizeof(buf), 0);
	if (res != XN_STATUS_OK) {
		xnPrintError(res, "xnUSBSendControl failed");
		Close();
		return false;
	}
	res = xnUSBSendControl(m_dev,
						   XnUSBControlType::XN_USB_CONTROL_TYPE_VENDOR, 0x06, 0x01, 0x00, NULL,
						   0, 0);
	if (res != XN_STATUS_OK) {
		xnPrintError(res, "xnUSBSendControl failed");
		Close();
		return false;
	}
	return true;
}

void KinectMotor::Close()
{
	if (m_isOpen) {
		xnUSBCloseDevice(m_dev);
		m_isOpen = false;
	}
}

bool KinectMotor::Move(int angle)
{
	XnStatus res;
	// Send move control request
	res = xnUSBSendControl(m_dev, XN_USB_CONTROL_TYPE_VENDOR, 0x31,
						   angle, 0x00, NULL, 0, 0);
	if (res != XN_STATUS_OK) {
		xnPrintError(res, "xnUSBSendControl failed");
		return false;
	}
	return true;
}

int main(int argc, char *argv[])
{
	KinectMotor motor;
	if (!motor.Open()) // Open motor device
		return 1;
	motor.Move(31); // move it up to 31 degree
	Sleep(1000);
	motor.Move(-31); // move it down to 31 degree
	Sleep(1000);
	motor.Move(0);
	return 0;
}