@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();
}