diff --git a/.gitignore b/.gitignore
index 2a577aed..3f18d73e 100644
--- a/.gitignore
+++ b/.gitignore
@@ -6,6 +6,8 @@ template/
 version
 cquery_log.txt
 compile_commands.json
+.ccls-cache/
+.ccls
 temp.log
 temp.errors
-.d/
\ No newline at end of file
+.d/
diff --git a/firmware/libv5rts b/firmware/libv5rts
index aca47b08..734552e0 160000
--- a/firmware/libv5rts
+++ b/firmware/libv5rts
@@ -1 +1 @@
-Subproject commit aca47b08fdeab48b318c1d183dd17804a01e2cd9
+Subproject commit 734552e0c3d38a436cacf4a66b95f13243f2006c
diff --git a/include/api.h b/include/api.h
index 6e57f579..10b8248e 100644
--- a/include/api.h
+++ b/include/api.h
@@ -41,14 +41,15 @@
 
 #define PROS_VERSION_MAJOR 3
 #define PROS_VERSION_MINOR 2
-#define PROS_VERSION_PATCH 0
-#define PROS_VERSION_STRING "3.2.0"
+#define PROS_VERSION_PATCH 1
+#define PROS_VERSION_STRING "3.2.1"
 
 #define PROS_ERR (INT32_MAX)
 #define PROS_ERR_F (INFINITY)
 
 #include "pros/adi.h"
 #include "pros/colors.h"
+#include "pros/imu.h"
 #include "pros/llemu.h"
 #include "pros/misc.h"
 #include "pros/motors.h"
@@ -57,6 +58,7 @@
 
 #ifdef __cplusplus
 #include "pros/adi.hpp"
+#include "pros/imu.hpp"
 #include "pros/llemu.hpp"
 #include "pros/misc.hpp"
 #include "pros/motors.hpp"
diff --git a/include/pros/apix.h b/include/pros/apix.h
index ca278b4d..9ca9d3bb 100644
--- a/include/pros/apix.h
+++ b/include/pros/apix.h
@@ -369,6 +369,7 @@ void queue_reset(queue_t queue);
 typedef enum v5_device_e {
 	E_DEVICE_NONE = 0,
 	E_DEVICE_MOTOR = 2,
+	E_DEVICE_IMU = 6,
 	E_DEVICE_RADIO = 8,
 	E_DEVICE_VISION = 11,
 	E_DEVICE_ADI = 12,
diff --git a/include/pros/imu.h b/include/pros/imu.h
new file mode 100644
index 00000000..48a2d024
--- /dev/null
+++ b/include/pros/imu.h
@@ -0,0 +1,256 @@
+/**
+ * \file pros/imu.h
+ *
+ * Contains prototypes for functions related to the VEX Inertial sensor.
+ *
+ * Visit https://pros.cs.purdue.edu/v5/tutorials/topical/imu.html to learn
+ * more.
+ *
+ * This file should not be modified by users, since it gets replaced whenever
+ * a kernel upgrade occurs.
+ *
+ * Copyright (c) 2017-2020, Purdue University ACM SIGBots.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+
+#ifndef _PROS_IMU_H_
+#define _PROS_IMU_H_
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+namespace pros {
+namespace c {
+#endif
+
+typedef enum imu_status_e {
+	E_IMU_STATUS_CALIBRATING = 0x01,
+	E_IMU_STATUS_ERROR = 0xFF,  // NOTE: used for returning an error from the get_status function, not that the IMU is
+	                            // necessarily in an error state
+} imu_status_e_t;
+
+typedef struct __attribute__((__packed__)) quaternion_s {
+	double x;
+	double y;
+	double z;
+	double w;
+} quaternion_s_t;
+
+struct imu_raw_s {
+	double x;
+	double y;
+	double z;
+};
+
+typedef struct imu_raw_s imu_gyro_s_t;
+typedef struct imu_raw_s imu_accel_s_t;
+
+typedef struct __attribute__((__packed__)) euler_s {
+	double pitch;
+	double roll;
+	double yaw;
+} euler_s_t;
+
+/**
+ * Calibrate IMU
+ *
+ * This takes approximately 2 seconds, and is a non-blocking operation.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is already calibrating
+ *
+ * \param port
+ *        The V5 Inertial Sensor port number from 1-21
+ * \return 1 if the operation was successful or PROS_ERR if the operation
+ * failed, setting errno.
+ */
+int32_t imu_reset(uint8_t port);
+
+/**
+ * Get the total number of degrees the Inertial Sensor has spun about the z-axis
+ *
+ * This value is theoretically unbounded. Clockwise rotations are represented
+ * with positive degree values, while counterclockwise rotations are represented
+ * with negative ones.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 Inertial Sensor port number from 1-21
+ * \return The degree value or PROS_ERR_F if the operation failed, setting
+ * errno.
+ */
+double imu_get_rotation(uint8_t port);
+
+/**
+ * Get the Inertial Sensor's heading relative to the initial direction of its
+ * x-axis
+ *
+ * This value is bounded by (-360,360). Clockwise rotations are represented with
+ * positive degree values, while counterclockwise rotations are represented with
+ * negative ones.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 Inertial Sensor port number from 1-21
+ * \return The degree value or PROS_ERR_F if the operation failed, setting
+ * errno.
+ */
+double imu_get_heading(uint8_t port);
+
+/**
+ * Get a quaternion representing the Inertial Sensor's orientation
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 Inertial Sensor port number from 1-21
+ * \return The quaternion representing the sensor's orientation. If the
+ * operation failed, all the quaternion's members are filled with PROS_ERR_F and
+ * errno is set.
+ */
+quaternion_s_t imu_get_quaternion(uint8_t port);
+
+/**
+ * Get the Euler angles representing the Inertial Sensor's orientation
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 Inertial Sensor port number from 1-21
+ * \return The Euler angles representing the sensor's orientation. If the
+ * operation failed, all the structure's members are filled with PROS_ERR_F and
+ * errno is set.
+ */
+euler_s_t imu_get_euler(uint8_t port);
+
+/**
+ * Get the Inertial Sensor's pitch angle
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 Inertial Sensor port number from 1-21
+ * \return The pitch angle, or PROS_ERR_F if the operation failed, setting
+ * errno.
+ */
+double imu_get_pitch(uint8_t port);
+
+/**
+ * Get the Inertial Sensor's roll angle
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 Inertial Sensor port number from 1-21
+ * \return The roll angle, or PROS_ERR_F if the operation failed, setting errno.
+ */
+double imu_get_roll(uint8_t port);
+
+/**
+ * Get the Inertial Sensor's yaw angle
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 Inertial Sensor port number from 1-21
+ * \return The yaw angle, or PROS_ERR_F if the operation failed, setting errno.
+ */
+double imu_get_yaw(uint8_t port);
+
+/**
+ * Get the Inertial Sensor's raw gyroscope values
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 Inertial Sensor port number from 1-21
+ * \return The raw gyroscope values. If the operation failed, all the
+ * structure's members are filled with PROS_ERR_F and errno is set.
+ */
+imu_gyro_s_t imu_get_gyro_rate(uint8_t port);
+
+/**
+ * Get the Inertial Sensor's raw acceleroneter values
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 Inertial Sensor port number from 1-21
+ * \return The raw accelerometer values. If the operation failed, all the
+ * structure's members are filled with PROS_ERR_F and errno is set.
+ */
+imu_accel_s_t imu_get_accel(uint8_t port);
+
+/**
+ * Get the Inertial Sensor's status
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 Inertial Sensor port number from 1-21
+ * \return The Inertial Sensor's status code, or PROS_ERR if the operation
+ * failed, setting errno.
+ */
+imu_status_e_t imu_get_status(uint8_t port);
+
+// NOTE: not used
+// void imu_set_mode(uint8_t port, uint32_t mode);
+// uint32_t imu_get_mode(uint8_t port);
+
+#ifdef __cplusplus
+}
+}
+}
+#endif
+
+#endif
diff --git a/include/pros/imu.hpp b/include/pros/imu.hpp
new file mode 100644
index 00000000..105a8ab3
--- /dev/null
+++ b/include/pros/imu.hpp
@@ -0,0 +1,217 @@
+/**
+ * \file pros/imu.hpp
+ *
+ * Contains prototypes for functions related to the VEX Inertial sensor.
+ *
+ * Visit https://pros.cs.purdue.edu/v5/tutorials/topical/imu.html to learn
+ * more.
+ *
+ * This file should not be modified by users, since it gets replaced whenever
+ * a kernel upgrade occurs.
+ *
+ * Copyright (c) 2017-2020, Purdue University ACM SIGBots.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+#ifndef _PROS_IMU_HPP_
+#define _PROS_IMU_HPP_
+
+#include <cstdint>
+#include "pros/imu.h"
+
+namespace pros {
+class Imu {
+	const std::uint8_t _port;
+
+	public:
+	Imu(const std::uint8_t port) : _port(port){};
+
+	/**
+	 * Calibrate IMU
+	 *
+	 * This takes approximately 2 seconds, and is a non-blocking operation.
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of V5 ports (1-21).
+	 * ENODEV - The port cannot be configured as an Inertial Sensor
+	 * EAGAIN - The sensor is already calibrating
+	 *
+	 * \param port
+	 *        The V5 Inertial Sensor port number from 1-21
+	 * \return 1 if the operation was successful or PROS_ERR if the operation
+	 * failed, setting errno.
+	 */
+	virtual std::int32_t reset() const;
+	/**
+	 * Get the total number of degrees the Inertial Sensor has spun about the z-axis
+	 *
+	 * This value is theoretically unbounded. Clockwise rotations are represented
+	 * with positive degree values, while counterclockwise rotations are represented
+	 * with negative ones.
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of V5 ports (1-21).
+	 * ENODEV - The port cannot be configured as an Inertial Sensor
+	 * EAGAIN - The sensor is still calibrating
+	 *
+	 * \param  port
+	 * 				 The V5 Inertial Sensor port number from 1-21
+	 * \return The degree value or PROS_ERR_F if the operation failed, setting
+	 * errno.
+	 */
+	virtual double get_rotation() const;
+	/**
+	 * Get the Inertial Sensor's heading relative to the initial direction of its
+	 * x-axis
+	 *
+	 * This value is bounded by (-360,360). Clockwise rotations are represented with
+	 * positive degree values, while counterclockwise rotations are represented with
+	 * negative ones.
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of V5 ports (1-21).
+	 * ENODEV - The port cannot be configured as an Inertial Sensor
+	 * EAGAIN - The sensor is still calibrating
+	 *
+	 * \param  port
+	 * 				 The V5 Inertial Sensor port number from 1-21
+	 * \return The degree value or PROS_ERR_F if the operation failed, setting
+	 * errno.
+	 */
+	virtual double get_heading() const;
+	/**
+	 * Get a quaternion representing the Inertial Sensor's orientation
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of V5 ports (1-21).
+	 * ENODEV - The port cannot be configured as an Inertial Sensor
+	 * EAGAIN - The sensor is still calibrating
+	 *
+	 * \param  port
+	 * 				 The V5 Inertial Sensor port number from 1-21
+	 * \return The quaternion representing the sensor's orientation. If the
+	 * operation failed, all the quaternion's members are filled with PROS_ERR_F and
+	 * errno is set.
+	 */
+	virtual pros::c::quaternion_s_t get_quaternion() const;
+	/**
+	 * Get the Euler angles representing the Inertial Sensor's orientation
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of V5 ports (1-21).
+	 * ENODEV - The port cannot be configured as an Inertial Sensor
+	 * EAGAIN - The sensor is still calibrating
+	 *
+	 * \param  port
+	 * 				 The V5 Inertial Sensor port number from 1-21
+	 * \return The Euler angles representing the sensor's orientation. If the
+	 * operation failed, all the structure's members are filled with PROS_ERR_F and
+	 * errno is set.
+	 */
+	virtual pros::c::euler_s_t get_euler() const;
+	/**
+	 * Get the Inertial Sensor's pitch angle
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of V5 ports (1-21).
+	 * ENODEV - The port cannot be configured as an Inertial Sensor
+	 * EAGAIN - The sensor is still calibrating
+	 *
+	 * \param  port
+	 * 				 The V5 Inertial Sensor port number from 1-21
+	 * \return The pitch angle, or PROS_ERR_F if the operation failed, setting
+	 * errno.
+	 */
+	virtual double get_pitch() const;
+	/**
+	 * Get the Inertial Sensor's roll angle
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of V5 ports (1-21).
+	 * ENODEV - The port cannot be configured as an Inertial Sensor
+	 * EAGAIN - The sensor is still calibrating
+	 *
+	 * \param  port
+	 * 				 The V5 Inertial Sensor port number from 1-21
+	 * \return The roll angle, or PROS_ERR_F if the operation failed, setting errno.
+	 */
+	virtual double get_roll() const;
+	/**
+	 * Get the Inertial Sensor's yaw angle
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of V5 ports (1-21).
+	 * ENODEV - The port cannot be configured as an Inertial Sensor
+	 * EAGAIN - The sensor is still calibrating
+	 *
+	 * \param  port
+	 * 				 The V5 Inertial Sensor port number from 1-21
+	 * \return The yaw angle, or PROS_ERR_F if the operation failed, setting errno.
+	 */
+	virtual double get_yaw() const;
+	/**
+	 * Get the Inertial Sensor's raw gyroscope values
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of V5 ports (1-21).
+	 * ENODEV - The port cannot be configured as an Inertial Sensor
+	 * EAGAIN - The sensor is still calibrating
+	 *
+	 * \param  port
+	 * 				 The V5 Inertial Sensor port number from 1-21
+	 * \return The raw gyroscope values. If the operation failed, all the
+	 * structure's members are filled with PROS_ERR_F and errno is set.
+	 */
+	virtual pros::c::imu_gyro_s_t get_gyro_rate() const;
+	/**
+	 * Get the Inertial Sensor's raw acceleroneter values
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of V5 ports (1-21).
+	 * ENODEV - The port cannot be configured as an Inertial Sensor
+	 * EAGAIN - The sensor is still calibrating
+	 *
+	 * \param  port
+	 * 				 The V5 Inertial Sensor port number from 1-21
+	 * \return The raw accelerometer values. If the operation failed, all the
+	 * structure's members are filled with PROS_ERR_F and errno is set.
+	 */
+	virtual pros::c::imu_accel_s_t get_accel() const;
+	/**
+	 * Get the Inertial Sensor's status
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of V5 ports (1-21).
+	 * ENODEV - The port cannot be configured as an Inertial Sensor
+	 * EAGAIN - The sensor is still calibrating
+	 *
+	 * \param  port
+	 * 				 The V5 Inertial Sensor port number from 1-21
+	 * \return The Inertial Sensor's status code, or PROS_ERR if the operation
+	 * failed, setting errno.
+	 */
+	virtual pros::c::imu_status_e_t get_status() const;
+	/**
+	 * Check whether the IMU is calibrating
+	 *
+	 * \return true if the V5 Inertial Sensor is calibrating or false
+	 * false if it is not.
+	 */
+	virtual bool is_calibrating() const;
+};
+}  // namespace pros
+
+#endif
diff --git a/src/devices/vdml_imu.c b/src/devices/vdml_imu.c
new file mode 100644
index 00000000..6b11f36b
--- /dev/null
+++ b/src/devices/vdml_imu.c
@@ -0,0 +1,144 @@
+/**
+ * \file devices/vdml_imu.c
+ *
+ * Contains functions for interacting with the VEX Inertial sensor.
+ *
+ * Copyright (c) 2017-2019, Purdue University ACM SIGBots.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+
+#include <errno.h>
+#include "pros/imu.h"
+#include "v5_api.h"
+#include "vdml/registry.h"
+#include "vdml/vdml.h"
+
+#define ERROR_IMU_STILL_CALIBRATING(port, device, err_return)                  \
+	if (vexDeviceImuStatusGet(device->device_info) & E_IMU_STATUS_CALIBRATING) { \
+		errno = EAGAIN;                                                            \
+		return_port(port - 1, err_return);                                         \
+	}
+
+int32_t imu_reset(uint8_t port) {
+	claim_port_i(port - 1, E_DEVICE_IMU);
+	ERROR_IMU_STILL_CALIBRATING(port, device, PROS_ERR);
+	vexDeviceImuReset(device->device_info);
+	return_port(port - 1, 1);
+}
+
+double imu_get_rotation(uint8_t port) {
+	claim_port_f(port - 1, E_DEVICE_IMU);
+	ERROR_IMU_STILL_CALIBRATING(port, device, PROS_ERR_F);
+	double rtn = vexDeviceImuHeadingGet(device->device_info);
+	return_port(port - 1, rtn);
+}
+
+double imu_get_heading(uint8_t port) {
+	claim_port_f(port - 1, E_DEVICE_IMU);
+	ERROR_IMU_STILL_CALIBRATING(port, device, PROS_ERR_F);
+	double rtn = vexDeviceImuDegreesGet(device->device_info);
+	return_port(port - 1, rtn);
+}
+
+#define QUATERNION_ERR_INIT \
+	{ .x = PROS_ERR_F, .y = PROS_ERR_F, .z = PROS_ERR_F, .w = PROS_ERR_F }
+
+quaternion_s_t imu_get_quaternion(uint8_t port) {
+	quaternion_s_t rtn = QUATERNION_ERR_INIT;
+	v5_smart_device_s_t* device;
+	if (!claim_port_try(port - 1, E_DEVICE_IMU)) {
+		return rtn;
+	}
+	device = registry_get_device(port - 1);
+	ERROR_IMU_STILL_CALIBRATING(port, device, rtn);
+	// HACK: vexos represents quaternions as {a,b,c,d} and we want them in
+	// {x,y,z,w}. we don't know how exactly the quaternion data is filled, so best
+	// just to manually shuffle stuff into the right places here
+	V5_DeviceImuQuaternion qt;
+	vexDeviceImuQuaternionGet(device->device_info, &qt);
+	rtn.x = qt.b;
+	rtn.y = qt.c;
+	rtn.z = qt.d;
+	rtn.w = qt.a;
+	return_port(port - 1, rtn);
+}
+
+#define ATTITUDE_ERR_INIT \
+	{ .pitch = PROS_ERR_F, .roll = PROS_ERR_F, .yaw = PROS_ERR_F }
+
+euler_s_t imu_get_euler(uint8_t port) {
+	euler_s_t rtn = ATTITUDE_ERR_INIT;
+	v5_smart_device_s_t* device;
+	if (!claim_port_try(port - 1, E_DEVICE_IMU)) {
+		return rtn;
+	}
+	device = registry_get_device(port - 1);
+	ERROR_IMU_STILL_CALIBRATING(port, device, rtn);
+	vexDeviceImuAttitudeGet(device->device_info, (V5_DeviceImuAttitude*)&rtn);
+	return_port(port - 1, rtn);
+}
+
+double imu_get_pitch(uint8_t port) {
+	return imu_get_euler(port).pitch;
+}
+
+double imu_get_roll(uint8_t port) {
+	return imu_get_euler(port).roll;
+}
+
+double imu_get_yaw(uint8_t port) {
+	return imu_get_euler(port).yaw;
+}
+
+#define RAW_IMU_ERR_INIT {.x = PROS_ERR_F, .y = PROS_ERR_F, .z = PROS_ERR_F};
+
+imu_gyro_s_t imu_get_gyro_rate(uint8_t port) {
+	imu_gyro_s_t rtn = RAW_IMU_ERR_INIT;
+	v5_smart_device_s_t* device;
+	if (!claim_port_try(port - 1, E_DEVICE_IMU)) {
+		return rtn;
+	}
+	device = registry_get_device(port - 1);
+	ERROR_IMU_STILL_CALIBRATING(port, device, rtn);
+	// NOTE: `V5_DeviceImuRaw` has the same form as a quaternion, but this call
+	// never fills the `w` field, so we make a dummy quaternion container and copy
+	// the (x,y,z) part into the return struct
+	quaternion_s_t dummy;
+	vexDeviceImuRawGyroGet(device->device_info, (V5_DeviceImuRaw*)&dummy);
+	rtn.x = dummy.x;
+	rtn.y = dummy.y;
+	rtn.z = dummy.z;
+	return_port(port - 1, rtn);
+}
+
+imu_accel_s_t imu_get_accel(uint8_t port) {
+	imu_accel_s_t rtn = RAW_IMU_ERR_INIT;
+	v5_smart_device_s_t* device;
+	if (!claim_port_try(port - 1, E_DEVICE_IMU)) {
+		return rtn;
+	}
+	device = registry_get_device(port - 1);
+	ERROR_IMU_STILL_CALIBRATING(port, device, rtn);
+	// NOTE: this is the same as `imu_get_raw_gyro`
+	quaternion_s_t dummy;
+	vexDeviceImuRawAccelGet(device->device_info, (V5_DeviceImuRaw*)&dummy);
+	rtn.x = dummy.x;
+	rtn.y = dummy.y;
+	rtn.z = dummy.z;
+	return_port(port - 1, rtn);
+}
+
+imu_status_e_t imu_get_status(uint8_t port) {
+	imu_status_e_t rtn = E_IMU_STATUS_ERROR;
+	v5_smart_device_s_t* device;
+	if (!claim_port_try(port - 1, E_DEVICE_IMU)) {
+		return rtn;
+	}
+	device = registry_get_device(port - 1);
+	ERROR_IMU_STILL_CALIBRATING(port, device, E_IMU_STATUS_ERROR);
+	rtn = vexDeviceImuStatusGet(device->device_info);
+	return_port(port - 1, rtn);
+}
diff --git a/src/devices/vdml_imu.cpp b/src/devices/vdml_imu.cpp
new file mode 100644
index 00000000..dd5e2f98
--- /dev/null
+++ b/src/devices/vdml_imu.cpp
@@ -0,0 +1,63 @@
+/**
+ * \file devices/vdml_imu.cpp
+ *
+ * Contains functions for interacting with the VEX Inertial sensor.
+ *
+ * Copyright (c) 2017-2019, Purdue University ACM SIGBots.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+
+#include "pros/imu.hpp"
+
+namespace pros {
+std::int32_t Imu::reset() const {
+	return pros::c::imu_reset(_port);
+}
+
+double Imu::get_rotation() const {
+    return pros::c::imu_get_rotation(_port);
+}
+
+double Imu::get_heading() const {
+	return pros::c::imu_get_heading(_port);
+}
+
+pros::c::quaternion_s_t Imu::get_quaternion() const {
+	return pros::c::imu_get_quaternion(_port);
+}
+
+pros::c::euler_s_t Imu::get_euler() const {
+	return pros::c::imu_get_euler(_port);
+}
+
+double Imu::get_pitch() const {
+	return get_euler().pitch;
+}
+
+double Imu::get_roll() const {
+	return get_euler().roll;
+}
+
+double Imu::get_yaw() const {
+	return get_euler().yaw;
+}
+
+pros::c::imu_gyro_s_t Imu::get_gyro_rate() const {
+	return pros::c::imu_get_gyro_rate(_port);
+}
+
+pros::c::imu_accel_s_t Imu::get_accel() const {
+	return pros::c::imu_get_accel(_port);
+}
+
+pros::c::imu_status_e_t Imu::get_status() const {
+	return pros::c::imu_get_status(_port);
+}
+
+bool Imu::is_calibrating() const {
+	return get_status() & pros::c::E_IMU_STATUS_CALIBRATING;
+}
+}  // namespace pros