[ros-users] accelerometer and tilt support + depth function

[Melonee Wise]

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 <matthieu.herrb at laas.fr>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
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>



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