--Finished up razor_read_data() in razor-imu.cpp
--Did some reading/thinking about how to integrate accelerometer data to get velocity and position.  Would be ideal if this could be done on-board the IMU, but not sure if the processor is powerful enough.
--Have emperor_run_imu thread implemented, but still need to implement a sleep or timer function to keep it from constantly polling the IMU and sending data to the log.  The first test (with the IMU read and send in a while loop) did not slow down the cameras (still ~13fps/cam), but the excessive logging created a 150MB log file that crashed gedit.