 RTIMU *imu;                                           // the IMU object
 RTIMUSettings settings;                               // the settings object
 void read_IMU();
-void clean_IMU();
 
 //Lidar
 unsigned int ranges[360];

	//include correction <0 - ow; MOTOR_MAX + ow> where ow is an overflow
	int corrected_motor_left  = motor_vel_to_pwm(abs(req_motor_left))  + constrain(correction_motor_left  * 5, -MOTOR_MAX/5, MOTOR_MAX/5);
	int corrected_motor_right = motor_vel_to_pwm(abs(req_motor_right)) + constrain(correction_motor_right * 5, -MOTOR_MAX/5, MOTOR_MAX/5);
	add_status_code(corrected_motor_left);
	add_status_code(corrected_motor_right);

	//remap if speed of any wheel overflows 0 or MOTOR_MAX
	if (corrected_motor_left < MOTOR_MIN)

	estimated_clamp_pos.corrected = false;

	status_msg.status_code = (int32_t *) malloc(20 * sizeof(int32_t));
	status_msg.lidar_data = (byte *) malloc(360 * sizeof(byte));
}

void log_string(String str) {
