Attached is a driver for the Sparkfun Razor IMU, available from http://www.sparkfun.com/products/9623
Thanks for submitting this driver! I've applied it to the SVN trunk.
I went ahead and added some documentation, and fixed a bug where
if (data.yaw < -180) data.yaw + 360;
if (data.yaw < -180) data.yaw += 360;
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