def METHOD_NAME(self, raw):
    """Decodes raw bytes received from the microcontroller. As per the agreed
    upon protocol, the first 4 bytes are for a header while the remaining
    80 bytes contain floats for each motor.
    """
    motors = list()
    imu = list()
    for i in range(12):
        # Here, we only unpack for 12 motors since that's all we have connected
        # in our current setup
        motors.append(struct.unpack("<f", raw[4 + i * 4 : 8 + i * 4])[0])
    for i in range(6):
        # Unpack IMU Data
        imu.append(struct.unpack("<f", raw[52 + i * 4 : 56 + i * 4])[0])
    return motors, imu