Control Kinect tilt motor by OpenNI USB Interface

main.cpp

#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;
}