fix: imu fifo overflow error

[Katharine-Walters]

Modified spi read to avoid occasional fifo overflow error

[ellliewilson]

IMU code updates tested and ready to merge! A note to users before the proposed changes are merged to robot-ci: you will have to add the following lines to your config file to access the SPI ports needed for the onboard IMU

# SPI 
dtoverlay=spi0-3cs,cs0_pin=8,cs1_pin=7,cs2_pin=3
dtoverlay=spi1-3cs,cs0_pin=18,cs1_pin=17,cs2_pin=16

# Enable CAN Bus on SPI0-0
dtoverlay=mcp2515-can0,oscillator=16000000,interrupt=26