This wraps the IMU stuff into a separate subsystem that automatically updates its internal information. This would be a good place to put future sensor calculations and whatnot. This also prevents the IMU from being polled to often in one tick, as now it is always only polled once per tick for each reading. This reading is stored in the TelemetrySubsystem and retrieved by a getter. Additionally, this subsystem packages many IMU readings into a single IMUState which can make code more compact in some cases.
This wraps the IMU stuff into a separate subsystem that automatically updates its internal information. This would be a good place to put future sensor calculations and whatnot. This also prevents the IMU from being polled to often in one tick, as now it is always only polled once per tick for each reading. This reading is stored in the TelemetrySubsystem and retrieved by a getter. Additionally, this subsystem packages many IMU readings into a single IMUState which can make code more compact in some cases.