diff --git a/y2022/localizer/imu.h b/y2022/localizer/imu.h
new file mode 100644
index 0000000..cd45710
--- /dev/null
+++ b/y2022/localizer/imu.h
@@ -0,0 +1,31 @@
+#ifndef Y2022_LOCALIZER_IMU_H_
+#define Y2022_LOCALIZER_IMU_H_
+#include "aos/events/shm_event_loop.h"
+#include "frc971/wpilib/imu_batch_generated.h"
+#include "y2022/constants.h"
+
+namespace y2022::localizer {
+
+// Reads IMU packets from the kernel driver which reads them over spi
+// from the Raspberry Pi Pico on the IMU board.
+class Imu {
+ public:
+  Imu(aos::ShmEventLoop *event_loop);
+  ~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;
+};
+}  // namespace y2022::localizer
+#endif  // Y2022_LOCALIZER_IMU_H_