It looks promising.. the value it returns is a little odd though for the negative angles I need to look at it for a couple more minutes but it looks like you're right on the money On Wed, Nov 17, 2010 at 2:14 AM, Matthieu Herrb wrote: > On Wed, Nov 17, 2010 at 01:49:26AM -0800, Melonee Wise wrote: > > Yes it's a branch but anyone is welcome to take my changes. I haven't > added > > the accelerometer to the driver but I can add it (is there any preference > on > > units), I am also trying to find if the current tilt position is > published > > by the kinect so I can add a get method. > > It seems to me that the tilt position is on byte 8 of the 10 bytes > returned by the accelerometers read returned by > > ret = libusb_control_transfer(motors, 0xC0, 0x32, 0x0, 0, data, 10, > 0); > > And byte 10 seems to be some status flags. So far I've seen > 0x04 -> motor moving > 0x01 -> motion limit reached. > > See my Genom module for details: > > > http://trac.laas.fr/git/openkinect-genom/tree/codels/openkinectAcqTaskCodels.c > > -- > Matthieu Herrb > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > -- Senior Engineer Intern Program Director Willow Garage 68 Willow Rd. Menlo Park, Ca 94025