diff --git a/frc971/imu_reader/imu.h b/frc971/imu_reader/imu.h
new file mode 100644
index 0000000..e3285d0
--- /dev/null
+++ b/frc971/imu_reader/imu.h
@@ -0,0 +1,36 @@
+#ifndef FRC971_IMU_READER_IMU_H_
+#define FRC971_IMU_READER_IMU_H_
+
+#include "aos/events/shm_event_loop.h"
+#include "frc971/wpilib/imu_batch_generated.h"
+
+namespace frc971::imu {
+
+// Reads IMU packets from the kernel driver which reads them over spi
+// from the Raspberry Pi Pico on the IMU board.
+class Imu {
+ public:
+  // Constructs an IMU reader object.  encoder_scalar is in meters/count.
+  Imu(aos::ShmEventLoop *event_loop, double encoder_scalar);
+  ~Imu();
+
+ private:
+  flatbuffers::Offset<frc971::ADIS16470DiagStat> PackDiagStat(
+      flatbuffers::FlatBufferBuilder *fbb, uint16_t value);
+  flatbuffers::Offset<frc971::IMUValues> ProcessReading(
+      flatbuffers::FlatBufferBuilder *fbb, absl::Span<uint8_t> buf);
+  double ConvertValue32(absl::Span<const uint8_t> data, double lsb_per_output);
+  double ConvertValue16(absl::Span<const uint8_t> data, double lsb_per_output);
+
+  aos::ShmEventLoop *event_loop_;
+  aos::Sender<frc971::IMUValuesBatch> imu_sender_;
+  int imu_fd_;
+
+  uint failed_checksums_ = 0;
+
+  double encoder_scalar_;
+};
+
+}  // namespace frc971::imu
+
+#endif  // FRC971_IMU_READER_IMU_H_