--Started working on data flow of RazorIMU->rover(gumstix)->seykhl->log.  Have started building razor-imu.{cpp,h} for the IMU-specific functions that will need to be called from emperor.  I am borrowing heavily from the C++ code included by Peter Bartz in razor-9dof-ahrs-Release-v1.4.2/C++, although I'm trying to reduce the complexity--Bartz passes his data from the IMU to C++ in binary, but I think that I'm going to stick with passing text, since that is easier to send across the network and log-->I can read it back into binary from text later, on seykhl.  Integrated razor-imu.{cpp,h} with the emperor Makefile and built the function to open the serial port to the IMU.  It compiles into the emperor executable, but I haven't tested it yet.