@Override public double[] getDown() { double[] toRet = new double[] { Math.toDegrees(Math.atan2(acc.getZ(), acc.getX())), Math.toDegrees(Math.atan2(acc.getZ(), acc.getY())) }; toRet[0] -= cal.getValues()[0]; toRet[1] -= cal.getValues()[1]; return toRet; }
@Override public double[] getAcceleration() { return new double[] {acc.getX(), acc.getY(), acc.getZ()}; }
public double getZ() { return accel.getZ(); }
public Vector getVector() { return new Vector(accel.getX(), accel.getY(), accel.getZ()); }
public void report() { SmartDashboard.putNumber("Accelerometer X", accel.getX()); SmartDashboard.putNumber("Accelerometer Y", accel.getY()); SmartDashboard.putNumber("Accelerometer Z", accel.getZ()); }