Kinect Issues

[Greg McKaskle]

Actually, there were two changes. The code you attached was intended to be part of the robot code. It was moved to run on the PC, where it will not run due to a missing library called FRC_NetworkCommunication.out. Since that didn't work, it was changed to not call any library at all.

Anyway, the Kinect VIs in WPILib can be used on the cRIO in a location such as autonomous or periodic. The basic Kinect joystick data is available using just the Joystick opening a Kinect 1 or Kinect 2 edition. The other data such as the Kinect Header can be used to get at the advanced data fields. I uploaded some examples to CD and FIRSTForge showing how to map various arm movements from the low level vertices and make your own joystick on the robot. The FIRSTForge URL is http://firstforge.wpi.edu/sf/frs/do/...inect_examples

Greg McKaskle

[Rogue Leader]

Thanks for the reply.

New question: How would I calibrate the Kinect so that I could hold my arms up, and thus creating a point of reference for the Kinect to base motor values off of?

[Greg McKaskle]

I suppose you could remember the highest Z you've seen on a hand or something, but my suggestion would be to use some other point on the skeleton for reference. Shoulders, spine, possibly head.

The code I referenced in the other post used the height between hip and shoulder, or something similar to normalize the arm gestures, and then had general linear scaling and offset to make the gestures comfortable and full-range.

Another useful point to use is the Center of Mass of the player.

Greg McKaskle

[Rogue Leader]

Thanks again! We think we figured out a solution, using a combination of case structures and feed back nodes to compare the original value that we calibrated vs. the new position of the hands. We'll see how it works when we test it. Hopefully, it'll work!