text: 
  #include "../include/util.h"
  
  #include <string>
  #include <stdio.h>
  #include <unistd.h>
  #include <time.h>
  
  int main(int argc, char *argv[])
  {
     if (argc == 3) {
        try {
           AHRS *imu = new AHRS(std::string(argv[1]),getBaudrate(argv[2]));
           char *buffer = NULL;
           size_t bufsize;
           // Connect to the AHRS.
           imu->openDevice();
           printf("Connected to %s.\n", (imu->getInfo()).c_str());
           // Prompt the user for a new baudrate.
           printf("New speed? (baud) \n");
           if (getline(&buffer, &bufsize, stdin) == -1)
           {
              fprintf(stderr, "Unable to read in new baudrate.\n");
              imu->closeDevice();
              return -1;
           }
           // Attempt to read in a baudrate and change to it.
           imu->setBaudrate(getBaudrate(buffer));
           // Clean up and close resources.
           free(buffer);
           imu->closeDevice();
           // Tell the user of the result.
           fprintf(stderr, "Changed speed successfully.\n");
           exit(0);
        } catch (std::exception& e) {
           printError(e);
        }
     }
     printUsage();
  }
  