[NotInControl]

Cool idea. For anyone that wants to try this. You don't need to buy any additional sensors, the RoboRio has a built in accelerometer, and you can use that alone to sense pitch and roll angles, depending on how the RoboRio is mounted with relation to your Robot.

Here is some code to get you started:

public static double getAccPitch() {
	
	double Y = Robot.accel.getY();
	double Z = Robot.accel.getZ();
	

	return Math.atan2(Y,Z) *180 /Math.PI;
}

public static double getAccRoll()
{
	
	double X = Robot.accel.getX();
	double Y = Robot.accel.getY();
	double Z = Robot.accel.getZ();
	
return Math.atan2(-X, Math.sqrt(Y*Y + Z*Z)) * 180/Math.PI;

}

This assumes a horizontal, mounted, upright RoboRio. You will need to modify the methods if you mount your RoboRio vertically by changing which acceleration vectors it uses.

To access the built-in accelerometer in the RoboRio simply do this:

public static BuiltInAccelerometer accel;
accel = new BuiltInAccelerometer();

The above code assumes you instantiated the accelerometer in Robot.java, but you can do it anywhere you like.

Hope this helps,

Regards,
Kevin