@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 Vector getVector() {
   return new Vector(accel.getX(), accel.getY(), accel.getZ());
 }
 public double getZ() {
   return accel.getZ();
 }
 public void report() {
   SmartDashboard.putNumber("Accelerometer X", accel.getX());
   SmartDashboard.putNumber("Accelerometer Y", accel.getY());
   SmartDashboard.putNumber("Accelerometer Z", accel.getZ());
 }
 public double getY() {
   return accel.getX();
 }