code: def _read_imu(self):
          
  
          self._init_imu()  # Ensure imu is initialised
  
          attempts = 0
          success = False
  
          while not success and attempts < 3:
              success = self._imu.IMURead()
              attempts += 1
              time.sleep(self._imu_poll_interval)
  
          return success
docs: Internal. Tries to read the IMU sensor three times before giving up