The Audio device provides combined audio from Kinect's four microphones. The Accelerometer documentation ( ) states there are 819 counts/g The accelerometer data is stored in two byte pairs for x,y, and z: The 9th byte (buf) yields the following status codes: The joint state information is grouped in with the accelerometer data and is stored in the 1st, 8th and 9th byte of the return from: Where the led_options are enumerated as follows: The joint position can be set by sending:Ġx40 0x31 2*desired_angle_degrees 0x0 empty 0 The joint range of the Kinect motor is +31 degrees (up) and -31 degrees (down).
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