diff --git a/frc971/raspi/rootfs/BUILD b/frc971/raspi/rootfs/BUILD
new file mode 100644
index 0000000..ee5984a
--- /dev/null
+++ b/frc971/raspi/rootfs/BUILD
@@ -0,0 +1 @@
+exports_files(["chrt.sh"])
diff --git a/frc971/raspi/rootfs/chrt.sh b/frc971/raspi/rootfs/chrt.sh
new file mode 100755
index 0000000..535f4c6
--- /dev/null
+++ b/frc971/raspi/rootfs/chrt.sh
@@ -0,0 +1,37 @@
+#!/bin/bash
+
+set -e
+
+function chrtirq() {
+  PIDS="$(ps -ef | grep "\\[$1\\]" | awk '{print $2}')"
+
+  for PID in $PIDS; do
+    chrt $2 -p $3 "${PID}"
+
+    ps -q "${PID}" -o comm= | tr -d '[:space:]'
+    echo -n " "
+    chrt -p "${PID}"
+  done
+
+  if [ -z "${PID}" ]; then
+    echo "No such IRQ ${1}"
+  fi
+}
+
+chrtirq "irq/[0-9]*-fe00b880" -f 50
+chrtirq "irq/[0-9]*-fe204000" -f 60
+chrtirq "irq/[0-9]*-adis1650" -f 61
+chrtirq "irq/[0-9]*-xhci_hcd" -f 1
+chrtirq "irq/[0-9]*-VCHIQ do" -o 0
+chrtirq "irq/[0-9]*-DMA IRQ" -f 50
+chrtirq "irq/[0-9]*-mmc1" -o 0
+chrtirq "irq/[0-9]*-mmc0" -o 0
+chrtirq "irq/[0-9]*-s-mmc0" -o 0
+chrtirq "irq/[0-9]*-v3d" -o 0
+chrtirq "irq/24-vc4 hvs" -o 0
+chrtirq "irq/[0-9]*-vc4 hdmi" -o 0
+chrtirq "irq/[0-9]*-s-vc4 hd" -o 0
+chrtirq "irq/19-fe004000" -f 50
+chrtirq "irq/[0-9]*-vc4 crtc" -o 0
+chrtirq "irq/23-uart-pl0" -o 0
+chrtirq "irq/[0-9]*-eth0" -f 10
diff --git a/frc971/raspi/rootfs/enable_imu.sh b/frc971/raspi/rootfs/enable_imu.sh
new file mode 100755
index 0000000..3725207
--- /dev/null
+++ b/frc971/raspi/rootfs/enable_imu.sh
@@ -0,0 +1,12 @@
+#!/bin/bash
+
+CONFIG=/boot/config.txt
+
+if grep -q adis16505 "${CONFIG}"; then
+  echo "Already enabled"
+  exit 0;
+fi
+
+sed -i '1h;1!H;$!d;x;s/.*dtparam=spi[^\n]*/&\n\n# Enable the IMU\ndtoverlay=adis16505/' "${CONFIG}"
+
+echo "Enabled 16505"
diff --git a/frc971/raspi/rootfs/frc971.service b/frc971/raspi/rootfs/frc971.service
index cdfb347..be6b37f 100644
--- a/frc971/raspi/rootfs/frc971.service
+++ b/frc971/raspi/rootfs/frc971.service
@@ -7,8 +7,8 @@
 User=pi
 Group=pi
 Type=simple
-WorkingDirectory=/home/pi/robot_code
-ExecStart=/home/pi/robot_code/starter.sh
+WorkingDirectory=/home/pi/bin
+ExecStart=/home/pi/bin/starter.sh
 KillMode=mixed
 TimeoutStopSec=10
 LimitRTPRIO=60
diff --git a/frc971/raspi/rootfs/frc971chrt.service b/frc971/raspi/rootfs/frc971chrt.service
index cc68934..6086fa0 100644
--- a/frc971/raspi/rootfs/frc971chrt.service
+++ b/frc971/raspi/rootfs/frc971chrt.service
@@ -3,7 +3,7 @@
 
 [Service]
 Type=oneshot
-ExecStart=/home/pi/robot_code/chrt.sh
+ExecStart=/home/pi/bin/chrt.sh
 
 [Install]
 WantedBy=multi-user.target
diff --git a/frc971/raspi/rootfs/modify_rootfs.sh b/frc971/raspi/rootfs/modify_rootfs.sh
index fd9bec9..15bdd80 100755
--- a/frc971/raspi/rootfs/modify_rootfs.sh
+++ b/frc971/raspi/rootfs/modify_rootfs.sh
@@ -36,8 +36,13 @@
 if ! grep "gpu_mem=128" "${BOOT_PARTITION}/config.txt"; then
   echo "gpu_mem=128" | sudo tee -a "${BOOT_PARTITION}/config.txt"
 fi
+if ! grep "enable_uart=1" "${BOOT_PARTITION}/config.txt"; then
+  echo "enable_uart=1" | sudo tee -a "${BOOT_PARTITION}/config.txt"
+fi
 # For now, disable the new libcamera driver in favor of legacy ones
 sudo sed -i s/^camera_auto_detect=1/#camera_auto_detect=1/ "${BOOT_PARTITION}/config.txt"
+# Enable SPI.
+sudo sed -i s/^.*dtparam=spi=on/dtparam=spi=on/ "${BOOT_PARTITION}/config.txt"
 
 sudo tar -zxvf "${KERNEL}" --strip-components 2 -C ${BOOT_PARTITION}/ ./fat32
 
@@ -80,11 +85,17 @@
   sudo mount -o loop,offset=${OFFSET} "${IMAGE}" "${PARTITION}"
 fi
 
+if [[ ! -e wiringpi-2.70-1.deb ]]; then
+  wget --continue https://software.frc971.org/Build-Dependencies/wiringpi-2.70-1.deb
+fi
+
 sudo cp target_configure.sh "${PARTITION}/tmp/"
+sudo cp wiringpi-2.70-1.deb "${PARTITION}/tmp/"
 sudo cp dhcpcd.conf "${PARTITION}/tmp/dhcpcd.conf"
 sudo cp sctp.conf "${PARTITION}/etc/sysctl.d/sctp.conf"
 sudo cp logind.conf "${PARTITION}/etc/systemd/logind.conf"
 sudo cp change_hostname.sh "${PARTITION}/tmp/change_hostname.sh"
+sudo cp enable_imu.sh "${PARTITION}/tmp/"
 sudo cp frc971.service "${PARTITION}/etc/systemd/system/frc971.service"
 sudo cp frc971chrt.service "${PARTITION}/etc/systemd/system/frc971chrt.service"
 sudo cp rt.conf "${PARTITION}/etc/security/limits.d/rt.conf"
@@ -96,6 +107,8 @@
 
 sudo rm -rf "${PARTITION}/lib/modules/"*
 sudo tar -zxvf "${KERNEL}" --strip-components 4 -C "${PARTITION}/lib/modules/" ./ext4/lib/modules/
+sudo cp adis16505.ko "${PARTITION}/lib/modules/5.10.78-rt55-v8+/kernel/"
+target /usr/sbin/depmod 5.10.78-rt55-v8+
 
 # Downloads and installs our target libraries
 target /bin/bash /tmp/target_configure.sh
diff --git a/frc971/raspi/rootfs/target_configure.sh b/frc971/raspi/rootfs/target_configure.sh
index 6d9171e..388d291 100755
--- a/frc971/raspi/rootfs/target_configure.sh
+++ b/frc971/raspi/rootfs/target_configure.sh
@@ -9,9 +9,12 @@
 
 # And provide a script to change it.
 cp /tmp/change_hostname.sh /root/bin/
+cp /tmp/enable_imu.sh /root/bin/
 chmod a+x /root/bin/change_hostname.sh
+chmod a+x /root/bin/enable_imu.sh
 
 chown -R pi.pi /home/pi/.ssh
+chown -R pi.pi /home/pi/bin
 
 apt-get update
 
@@ -41,13 +44,7 @@
   libnice-dev \
   feh
 
-# Install WiringPi gpio for PWM control
-if [[ ! -e "/usr/bin/gpio" ]]; then
-    cd /tmp
-    git clone https://github.com/WiringPi/WiringPi.git
-    cd WiringPi
-    ./build
-fi
+dpkg -i /tmp/wiringpi-2.70-1.deb
 
 echo 'GOVERNOR="performance"' > /etc/default/cpufrequtils