Omnibot IMU feedback

[tygamvrelis]

Describe the feature
The omnibot should return IMU data.

Reason for request
The controls and software teams would like the omnibot's telemetry to be as close as possible to that of the actual robot. This means the omnibot should have a MPU6050 mounted on it and should stream back acceleration and angular velocity data.

Timeline
The sooner the better.
Tentatively: March 9th

Additional information
As the omnibot program grows in complexity, it may be worth it to consider ways of reducing duplication between the omnibot code and main robot code. For example, maybe they could both rely on code from common, and even share some application code (e.g. the thread for reading from the IMU). Their PC-side scripts could also have common components.