2010 Accelerometer I2C Object/Class

[NerdGuy]

I am saddened our ported code did not work.

It may be that we just didnt translate some of the syntax correctly or something else IDK.
Returned 0.0

Heres the code

package edu.wpi.first.wpilibj.templates;
import edu.wpi.first.wpilibj.*;

/**
*
* @author ported to Java by Sam Meyer
*
* ADXL345 Accelerometer on I2C.
*
* This class alows access to a Analog Devices ADXL345 3-axis accelerometer on an I2C bus.
* This class assumes the default (not alternate) sensor address of 0x3A (8-bit address).
*/
public class ADXL345 extends SensorBase
{
private static final int kAddress = 0x3A;
private static final int kPowerCtlRegister = 0x2D;
private static final int kDataFormatRegister = 0x31;
private static final int kDataRegister = 0x32;
private static final double kGsPerLSB = 0.004;

/***********************************************
* PowerCtlFields
* *********************************************/
private static final int kPowerCtl_Link = 0x20;
private static final int kPowerCtl_AutoSleep = 0x10;
private static final int kPowerCtl_Measure = 0x08;
private static final int kPowerCtl_Sleep = 0x04;

/***********************************************
* PowerCtlFields
* *********************************************/
private static final int kDataFormat_SelfTest = 0x80;
private static final int kDataFormat_SPI = 0x40;
private static final int kDataFormat_IntInvert = 0x20;
private static final int kDataFormat_FullRes = 0x08;
private static final int kDataFormat_Justify = 0x04;


/***********************************************
* DataFormat_Range
* *********************************************/
private static final int kRange_2G = 0x00;
private static final int kRange_4G = 0x01;
private static final int kRange_8G = 0x02;
private static final int kRange_16G = 0x03;
/***********************************************
* Axes
* *********************************************/
private static final int kAxis_X = 0x00;
private static final int kAxis_Y = 0x02;
private static final int kAxis_Z = 0x04;

/**
* The Default Constructor
* @param slot The slot of the digital module that the sensor is plugged into.
* The default range is 2G (0x00)
*/
public ADXL345(int slot)
{
this(slot, 0x00); // kRange_2G (0x00) is default
}
/**
* Constructor.
*
* @param slot The slot of the digital module that the sensor is plugged into.
* @param range The range (+ or -) that the accelerometer will measure.
*/
public ADXL345(int slot, int range)
{
m_i2c = null;
DigitalModule module = DigitalModule.getInstance(slot);
m_i2c = module.getI2C(kAddress);
m_i2c.write(kPowerCtlRegister, kPowerCtl_Measure);
m_i2c.write(kDataFormatRegister, kDataFormat_FullRes | (int)range);
}



public static final int[] Axes = {0x00, 0x02, 0x04};

private I2C m_i2c;

/**
*
* @param Axis IMPORTANT Axes must be an integer: X = 0x00, Y = 0x02, Z = 0x04
* @return the acceleration in Gs
*/
public double getAcceleration(int Axis)
{
byte[] rawAccel = new byte[2];
m_i2c.read(kDataRegister + (int)Axis, 2, rawAccel);

// Sensor is little endian... swap bytes
byte temp = rawAccel[0];
rawAccel[0] = rawAccel[1];
rawAccel[1] = temp;

int partialAccel = rawAccel[0] * 0x100 + rawAccel[1];
return partialAccel * kGsPerLSB;
}
}

Please if you see any mistakes post them.

Also if we cant get this to work where do you buy the analog accelerometer from last year?