diff --git a/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp b/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
index dd535df3cd..1a3492e16a 100644
--- a/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
+++ b/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
@@ -66,10 +66,11 @@ inline void ADISReportError(int32_t status, const char* file, int line,
 #define REPORT_ERROR(msg) \
   ADISReportError(err::Error, __FILE__, __LINE__, __FUNCTION__, "{}", msg)
 
-ADIS16448_IMU::ADIS16448_IMU() : ADIS16448_IMU(kZ, SPI::Port::kMXP, 4) {}
+ADIS16448_IMU::ADIS16448_IMU()
+    : ADIS16448_IMU(kZ, SPI::Port::kMXP, CalibrationTime::_512ms) {}
 
 ADIS16448_IMU::ADIS16448_IMU(IMUAxis yaw_axis, SPI::Port port,
-                             uint16_t cal_time)
+                             CalibrationTime cal_time)
     : m_yaw_axis(yaw_axis),
       m_spi_port(port),
       m_simDevice("Gyro:ADIS16448", port) {
@@ -80,12 +81,6 @@ ADIS16448_IMU::ADIS16448_IMU(IMUAxis yaw_axis, SPI::Port port,
         m_simDevice.CreateDouble("gyro_angle_y", hal::SimDevice::kInput, 0.0);
     m_simGyroAngleZ =
         m_simDevice.CreateDouble("gyro_angle_z", hal::SimDevice::kInput, 0.0);
-    m_simGyroRateX =
-        m_simDevice.CreateDouble("gyro_rate_x", hal::SimDevice::kInput, 0.0);
-    m_simGyroRateY =
-        m_simDevice.CreateDouble("gyro_rate_y", hal::SimDevice::kInput, 0.0);
-    m_simGyroRateZ =
-        m_simDevice.CreateDouble("gyro_rate_z", hal::SimDevice::kInput, 0.0);
     m_simAccelX =
         m_simDevice.CreateDouble("accel_x", hal::SimDevice::kInput, 0.0);
     m_simAccelY =
@@ -311,12 +306,12 @@ bool ADIS16448_IMU::SwitchToAutoSPI() {
 /**
  *
  **/
-int ADIS16448_IMU::ConfigCalTime(int new_cal_time) {
+int ADIS16448_IMU::ConfigCalTime(CalibrationTime new_cal_time) {
   if (m_calibration_time == new_cal_time) {
     return 1;
   } else {
-    m_calibration_time = static_cast<uint16_t>(new_cal_time);
-    m_avg_size = m_calibration_time * 819;
+    m_calibration_time = new_cal_time;
+    m_avg_size = static_cast<uint16_t>(m_calibration_time) * 819;
     InitOffsetBuffer(m_avg_size);
     return 0;
   }
@@ -348,16 +343,6 @@ void ADIS16448_IMU::Calibrate() {
   // m_gyro_offset_z << std::endl;
 }
 
-int ADIS16448_IMU::SetYawAxis(IMUAxis yaw_axis) {
-  if (m_yaw_axis == yaw_axis) {
-    return 1;
-  } else {
-    m_yaw_axis = yaw_axis;
-    Reset();
-    return 0;
-  }
-}
-
 /**
  * This function reads the contents of an 8-bit register location by
  *transmitting the register location byte along with a null (0x00) byte using
@@ -744,12 +729,7 @@ int ADIS16448_IMU::ConfigDecRate(uint16_t DecimationSetting) {
   return 0;
 }
 
-/**
- * This function returns the most recent integrated angle for the axis chosen by
- *m_yaw_axis. This function is most useful in situations where the yaw axis may
- *not coincide with the IMU Z axis.
- **/
-double ADIS16448_IMU::GetAngle() const {
+units::degree_t ADIS16448_IMU::GetAngle() const {
   switch (m_yaw_axis) {
     case kX:
       return GetGyroAngleX();
@@ -758,142 +738,115 @@ double ADIS16448_IMU::GetAngle() const {
     case kZ:
       return GetGyroAngleZ();
     default:
-      return 0.0;
+      return 0_deg;
   }
 }
 
-double ADIS16448_IMU::GetRate() const {
-  switch (m_yaw_axis) {
-    case kX:
-      return GetGyroRateX();
-    case kY:
-      return GetGyroRateY();
-    case kZ:
-      return GetGyroRateZ();
-    default:
-      return 0.0;
+units::degree_t ADIS16448_IMU::GetGyroAngleX() const {
+  if (m_simGyroAngleX) {
+    return units::degree_t{m_simGyroAngleX.Get()};
   }
+  std::scoped_lock sync(m_mutex);
+  return units::degree_t{m_integ_gyro_x};
+}
+
+units::degree_t ADIS16448_IMU::GetGyroAngleY() const {
+  if (m_simGyroAngleY) {
+    return units::degree_t{m_simGyroAngleY.Get()};
+  }
+  std::scoped_lock sync(m_mutex);
+  return units::degree_t{m_integ_gyro_y};
+}
+
+units::degree_t ADIS16448_IMU::GetGyroAngleZ() const {
+  if (m_simGyroAngleZ) {
+    return units::degree_t{m_simGyroAngleZ.Get()};
+  }
+  std::scoped_lock sync(m_mutex);
+  return units::degree_t{m_integ_gyro_z};
+}
+
+units::meters_per_second_squared_t ADIS16448_IMU::GetAccelX() const {
+  if (m_simAccelX) {
+    return units::meters_per_second_squared_t{m_simAccelX.Get()};
+  }
+  std::scoped_lock sync(m_mutex);
+  return m_accel_x * 9.81_mps_sq;
+}
+
+units::meters_per_second_squared_t ADIS16448_IMU::GetAccelY() const {
+  if (m_simAccelY) {
+    return units::meters_per_second_squared_t{m_simAccelY.Get()};
+  }
+  std::scoped_lock sync(m_mutex);
+  return m_accel_y * 9.81_mps_sq;
+}
+
+units::meters_per_second_squared_t ADIS16448_IMU::GetAccelZ() const {
+  if (m_simAccelZ) {
+    return units::meters_per_second_squared_t{m_simAccelZ.Get()};
+  }
+  std::scoped_lock sync(m_mutex);
+  return m_accel_z * 9.81_mps_sq;
+}
+
+units::tesla_t ADIS16448_IMU::GetMagneticFieldX() const {
+  std::scoped_lock sync(m_mutex);
+  return units::gauss_t{m_mag_x * 1e-3};
+}
+
+units::tesla_t ADIS16448_IMU::GetMagneticFieldY() const {
+  std::scoped_lock sync(m_mutex);
+  return units::gauss_t{m_mag_y * 1e-3};
+}
+
+units::tesla_t ADIS16448_IMU::GetMagneticFieldZ() const {
+  std::scoped_lock sync(m_mutex);
+  return units::gauss_t{m_mag_z * 1e-3};
+}
+
+units::degree_t ADIS16448_IMU::GetXComplementaryAngle() const {
+  std::scoped_lock sync(m_mutex);
+  return units::degree_t{m_compAngleX};
+}
+
+units::degree_t ADIS16448_IMU::GetYComplementaryAngle() const {
+  std::scoped_lock sync(m_mutex);
+  return units::degree_t{m_compAngleY};
+}
+
+units::degree_t ADIS16448_IMU::GetXFilteredAccelAngle() const {
+  std::scoped_lock sync(m_mutex);
+  return units::degree_t{m_accelAngleX};
+}
+
+units::degree_t ADIS16448_IMU::GetYFilteredAccelAngle() const {
+  std::scoped_lock sync(m_mutex);
+  return units::degree_t{m_accelAngleY};
+}
+
+units::pounds_per_square_inch_t ADIS16448_IMU::GetBarometricPressure() const {
+  std::scoped_lock sync(m_mutex);
+  return units::mbar_t{m_baro};
+}
+
+units::celsius_t ADIS16448_IMU::GetTemperature() const {
+  std::scoped_lock sync(m_mutex);
+  return units::celsius_t{m_temp};
 }
 
 ADIS16448_IMU::IMUAxis ADIS16448_IMU::GetYawAxis() const {
   return m_yaw_axis;
 }
 
-double ADIS16448_IMU::GetGyroAngleX() const {
-  if (m_simGyroAngleX) {
-    return m_simGyroAngleX.Get();
+int ADIS16448_IMU::SetYawAxis(IMUAxis yaw_axis) {
+  if (m_yaw_axis == yaw_axis) {
+    return 1;
+  } else {
+    m_yaw_axis = yaw_axis;
+    Reset();
+    return 0;
   }
-  std::scoped_lock sync(m_mutex);
-  return m_integ_gyro_x;
-}
-
-double ADIS16448_IMU::GetGyroAngleY() const {
-  if (m_simGyroAngleY) {
-    return m_simGyroAngleY.Get();
-  }
-  std::scoped_lock sync(m_mutex);
-  return m_integ_gyro_y;
-}
-
-double ADIS16448_IMU::GetGyroAngleZ() const {
-  if (m_simGyroAngleZ) {
-    return m_simGyroAngleZ.Get();
-  }
-  std::scoped_lock sync(m_mutex);
-  return m_integ_gyro_z;
-}
-
-double ADIS16448_IMU::GetGyroRateX() const {
-  if (m_simGyroRateX) {
-    return m_simGyroRateX.Get();
-  }
-  std::scoped_lock sync(m_mutex);
-  return m_gyro_x;
-}
-
-double ADIS16448_IMU::GetGyroRateY() const {
-  if (m_simGyroRateY) {
-    return m_simGyroRateY.Get();
-  }
-  std::scoped_lock sync(m_mutex);
-  return m_gyro_y;
-}
-
-double ADIS16448_IMU::GetGyroRateZ() const {
-  if (m_simGyroRateZ) {
-    return m_simGyroRateZ.Get();
-  }
-  std::scoped_lock sync(m_mutex);
-  return m_gyro_z;
-}
-
-double ADIS16448_IMU::GetAccelX() const {
-  if (m_simAccelX) {
-    return m_simAccelX.Get();
-  }
-  std::scoped_lock sync(m_mutex);
-  return m_accel_x;
-}
-
-double ADIS16448_IMU::GetAccelY() const {
-  if (m_simAccelY) {
-    return m_simAccelY.Get();
-  }
-  std::scoped_lock sync(m_mutex);
-  return m_accel_y;
-}
-
-double ADIS16448_IMU::GetAccelZ() const {
-  if (m_simAccelZ) {
-    return m_simAccelZ.Get();
-  }
-  std::scoped_lock sync(m_mutex);
-  return m_accel_z;
-}
-
-double ADIS16448_IMU::GetMagInstantX() const {
-  std::scoped_lock sync(m_mutex);
-  return m_mag_x;
-}
-
-double ADIS16448_IMU::GetMagInstantY() const {
-  std::scoped_lock sync(m_mutex);
-  return m_mag_y;
-}
-
-double ADIS16448_IMU::GetMagInstantZ() const {
-  std::scoped_lock sync(m_mutex);
-  return m_mag_z;
-}
-
-double ADIS16448_IMU::GetXComplementaryAngle() const {
-  std::scoped_lock sync(m_mutex);
-  return m_compAngleX;
-}
-
-double ADIS16448_IMU::GetYComplementaryAngle() const {
-  std::scoped_lock sync(m_mutex);
-  return m_compAngleY;
-}
-
-double ADIS16448_IMU::GetXFilteredAccelAngle() const {
-  std::scoped_lock sync(m_mutex);
-  return m_accelAngleX;
-}
-
-double ADIS16448_IMU::GetYFilteredAccelAngle() const {
-  std::scoped_lock sync(m_mutex);
-  return m_accelAngleY;
-}
-
-double ADIS16448_IMU::GetBarometricPressure() const {
-  std::scoped_lock sync(m_mutex);
-  return m_baro;
-}
-
-double ADIS16448_IMU::GetTemperature() const {
-  std::scoped_lock sync(m_mutex);
-  return m_temp;
 }
 
 int ADIS16448_IMU::GetPort() const {
@@ -909,6 +862,7 @@ int ADIS16448_IMU::GetPort() const {
 void ADIS16448_IMU::InitSendable(nt::NTSendableBuilder& builder) {
   builder.SetSmartDashboardType("ADIS16448 IMU");
   auto yaw_angle = builder.GetEntry("Yaw Angle").GetHandle();
-  builder.SetUpdateTable(
-      [=]() { nt::NetworkTableEntry(yaw_angle).SetDouble(GetAngle()); });
+  builder.SetUpdateTable([=]() {
+    nt::NetworkTableEntry(yaw_angle).SetDouble(GetAngle().value());
+  });
 }
diff --git a/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp b/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
index 109a09d806..0539609178 100644
--- a/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
+++ b/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
@@ -79,12 +79,6 @@ ADIS16470_IMU::ADIS16470_IMU(IMUAxis yaw_axis, SPI::Port port,
         m_simDevice.CreateDouble("gyro_angle_y", hal::SimDevice::kInput, 0.0);
     m_simGyroAngleZ =
         m_simDevice.CreateDouble("gyro_angle_z", hal::SimDevice::kInput, 0.0);
-    m_simGyroRateX =
-        m_simDevice.CreateDouble("gyro_rate_x", hal::SimDevice::kInput, 0.0);
-    m_simGyroRateY =
-        m_simDevice.CreateDouble("gyro_rate_y", hal::SimDevice::kInput, 0.0);
-    m_simGyroRateZ =
-        m_simDevice.CreateDouble("gyro_rate_z", hal::SimDevice::kInput, 0.0);
     m_simAccelX =
         m_simDevice.CreateDouble("accel_x", hal::SimDevice::kInput, 0.0);
     m_simAccelY =
@@ -385,22 +379,6 @@ void ADIS16470_IMU::Calibrate() {
   }
 }
 
-int ADIS16470_IMU::SetYawAxis(IMUAxis yaw_axis) {
-  if (m_yaw_axis == yaw_axis) {
-    return 1;
-  }
-  if (!SwitchToStandardSPI()) {
-    REPORT_ERROR("Failed to configure/reconfigure standard SPI.");
-    return 2;
-  }
-  m_yaw_axis = yaw_axis;
-  if (!SwitchToAutoSPI()) {
-    REPORT_ERROR("Failed to configure/reconfigure auto SPI.");
-    return 2;
-  }
-  return 0;
-}
-
 /**
  * @brief Reads the contents of a specified register location over SPI.
  *
@@ -733,112 +711,90 @@ double ADIS16470_IMU::CompFilterProcess(double compAngle, double accelAngle,
  *m_yaw_axis. This function is most useful in situations where the yaw axis may
  *not coincide with the IMU Z axis.
  **/
-double ADIS16470_IMU::GetAngle() const {
+units::degree_t ADIS16470_IMU::GetAngle() const {
   switch (m_yaw_axis) {
     case kX:
       if (m_simGyroAngleX) {
-        return m_simGyroAngleX.Get();
+        return units::degree_t{m_simGyroAngleX.Get()};
       }
       break;
     case kY:
       if (m_simGyroAngleY) {
-        return m_simGyroAngleY.Get();
+        return units::degree_t{m_simGyroAngleY.Get()};
       }
       break;
     case kZ:
       if (m_simGyroAngleZ) {
-        return m_simGyroAngleZ.Get();
+        return units::degree_t{m_simGyroAngleZ.Get()};
       }
       break;
   }
   std::scoped_lock sync(m_mutex);
-  return m_integ_angle;
+  return units::degree_t{m_integ_angle};
 }
 
-double ADIS16470_IMU::GetRate() const {
-  std::scoped_lock sync(m_mutex);
-  switch (m_yaw_axis) {
-    case kX:
-      return GetGyroRateX();
-    case kY:
-      return GetGyroRateY();
-    case kZ:
-      return GetGyroRateZ();
-    default:
-      return 0.0;
+units::meters_per_second_squared_t ADIS16470_IMU::GetAccelX() const {
+  if (m_simAccelX) {
+    return units::meters_per_second_squared_t{m_simAccelX.Get()};
   }
+  std::scoped_lock sync(m_mutex);
+  return units::meters_per_second_squared_t{m_accel_x};
+}
+
+units::meters_per_second_squared_t ADIS16470_IMU::GetAccelY() const {
+  if (m_simAccelY) {
+    return units::meters_per_second_squared_t{m_simAccelY.Get()};
+  }
+  std::scoped_lock sync(m_mutex);
+  return units::meters_per_second_squared_t{m_accel_y};
+}
+
+units::meters_per_second_squared_t ADIS16470_IMU::GetAccelZ() const {
+  if (m_simAccelZ) {
+    return units::meters_per_second_squared_t{m_simAccelZ.Get()};
+  }
+  std::scoped_lock sync(m_mutex);
+  return units::meters_per_second_squared_t{m_accel_z};
+}
+
+units::degree_t ADIS16470_IMU::GetXComplementaryAngle() const {
+  std::scoped_lock sync(m_mutex);
+  return units::degree_t{m_compAngleX};
+}
+
+units::degree_t ADIS16470_IMU::GetYComplementaryAngle() const {
+  std::scoped_lock sync(m_mutex);
+  return units::degree_t{m_compAngleY};
+}
+
+units::degree_t ADIS16470_IMU::GetXFilteredAccelAngle() const {
+  std::scoped_lock sync(m_mutex);
+  return units::degree_t{m_accelAngleX};
+}
+
+units::degree_t ADIS16470_IMU::GetYFilteredAccelAngle() const {
+  std::scoped_lock sync(m_mutex);
+  return units::degree_t{m_accelAngleY};
 }
 
 ADIS16470_IMU::IMUAxis ADIS16470_IMU::GetYawAxis() const {
   return m_yaw_axis;
 }
 
-double ADIS16470_IMU::GetGyroRateX() const {
-  if (m_simGyroRateX) {
-    return m_simGyroRateX.Get();
+int ADIS16470_IMU::SetYawAxis(IMUAxis yaw_axis) {
+  if (m_yaw_axis == yaw_axis) {
+    return 1;
   }
-  std::scoped_lock sync(m_mutex);
-  return m_gyro_x;
-}
-
-double ADIS16470_IMU::GetGyroRateY() const {
-  if (m_simGyroRateY) {
-    return m_simGyroRateY.Get();
+  if (!SwitchToStandardSPI()) {
+    REPORT_ERROR("Failed to configure/reconfigure standard SPI.");
+    return 2;
   }
-  std::scoped_lock sync(m_mutex);
-  return m_gyro_y;
-}
-
-double ADIS16470_IMU::GetGyroRateZ() const {
-  if (m_simGyroRateZ) {
-    return m_simGyroRateZ.Get();
+  m_yaw_axis = yaw_axis;
+  if (!SwitchToAutoSPI()) {
+    REPORT_ERROR("Failed to configure/reconfigure auto SPI.");
+    return 2;
   }
-  std::scoped_lock sync(m_mutex);
-  return m_gyro_z;
-}
-
-double ADIS16470_IMU::GetAccelX() const {
-  if (m_simAccelX) {
-    return m_simAccelX.Get();
-  }
-  std::scoped_lock sync(m_mutex);
-  return m_accel_x;
-}
-
-double ADIS16470_IMU::GetAccelY() const {
-  if (m_simAccelY) {
-    return m_simAccelY.Get();
-  }
-  std::scoped_lock sync(m_mutex);
-  return m_accel_y;
-}
-
-double ADIS16470_IMU::GetAccelZ() const {
-  if (m_simAccelZ) {
-    return m_simAccelZ.Get();
-  }
-  std::scoped_lock sync(m_mutex);
-  return m_accel_z;
-}
-
-double ADIS16470_IMU::GetXComplementaryAngle() const {
-  std::scoped_lock sync(m_mutex);
-  return m_compAngleX;
-}
-
-double ADIS16470_IMU::GetYComplementaryAngle() const {
-  std::scoped_lock sync(m_mutex);
-  return m_compAngleY;
-}
-
-double ADIS16470_IMU::GetXFilteredAccelAngle() const {
-  std::scoped_lock sync(m_mutex);
-  return m_accelAngleX;
-}
-
-double ADIS16470_IMU::GetYFilteredAccelAngle() const {
-  std::scoped_lock sync(m_mutex);
-  return m_accelAngleY;
+  return 0;
 }
 
 int ADIS16470_IMU::GetPort() const {
@@ -854,6 +810,7 @@ int ADIS16470_IMU::GetPort() const {
 void ADIS16470_IMU::InitSendable(nt::NTSendableBuilder& builder) {
   builder.SetSmartDashboardType("ADIS16470 IMU");
   auto yaw_angle = builder.GetEntry("Yaw Angle").GetHandle();
-  builder.SetUpdateTable(
-      [=]() { nt::NetworkTableEntry(yaw_angle).SetDouble(GetAngle()); });
+  builder.SetUpdateTable([=]() {
+    nt::NetworkTableEntry(yaw_angle).SetDouble(GetAngle().value());
+  });
 }
diff --git a/wpilibc/src/main/native/cpp/simulation/ADIS16448_IMUSim.cpp b/wpilibc/src/main/native/cpp/simulation/ADIS16448_IMUSim.cpp
index 96f33abc56..6687252dda 100644
--- a/wpilibc/src/main/native/cpp/simulation/ADIS16448_IMUSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/ADIS16448_IMUSim.cpp
@@ -14,9 +14,6 @@ ADIS16448_IMUSim::ADIS16448_IMUSim(const frc::ADIS16448_IMU& imu) {
   m_simGyroAngleX = deviceSim.GetDouble("gyro_angle_x");
   m_simGyroAngleY = deviceSim.GetDouble("gyro_angle_y");
   m_simGyroAngleZ = deviceSim.GetDouble("gyro_angle_z");
-  m_simGyroRateX = deviceSim.GetDouble("gyro_rate_x");
-  m_simGyroRateY = deviceSim.GetDouble("gyro_rate_y");
-  m_simGyroRateZ = deviceSim.GetDouble("gyro_rate_z");
   m_simAccelX = deviceSim.GetDouble("accel_x");
   m_simAccelY = deviceSim.GetDouble("accel_y");
   m_simAccelZ = deviceSim.GetDouble("accel_z");
@@ -34,26 +31,14 @@ void ADIS16448_IMUSim::SetGyroAngleZ(units::degree_t angle) {
   m_simGyroAngleZ.Set(angle.value());
 }
 
-void ADIS16448_IMUSim::SetGyroRateX(units::degrees_per_second_t rate) {
-  m_simGyroRateX.Set(rate.value());
-}
-
-void ADIS16448_IMUSim::SetGyroRateY(units::degrees_per_second_t rate) {
-  m_simGyroRateY.Set(rate.value());
-}
-
-void ADIS16448_IMUSim::SetGyroRateZ(units::degrees_per_second_t rate) {
-  m_simGyroRateZ.Set(rate.value());
-}
-
 void ADIS16448_IMUSim::SetAccelX(units::meters_per_second_squared_t accel) {
-  m_simAccelX.Set(accel.value() / 9.81);
+  m_simAccelX.Set(accel.value());
 }
 
 void ADIS16448_IMUSim::SetAccelY(units::meters_per_second_squared_t accel) {
-  m_simAccelY.Set(accel.value() / 9.81);
+  m_simAccelY.Set(accel.value());
 }
 
 void ADIS16448_IMUSim::SetAccelZ(units::meters_per_second_squared_t accel) {
-  m_simAccelZ.Set(accel.value() / 9.81);
+  m_simAccelZ.Set(accel.value());
 }
diff --git a/wpilibc/src/main/native/cpp/simulation/ADIS16470_IMUSim.cpp b/wpilibc/src/main/native/cpp/simulation/ADIS16470_IMUSim.cpp
index f111679919..5fb5e0f3c2 100644
--- a/wpilibc/src/main/native/cpp/simulation/ADIS16470_IMUSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/ADIS16470_IMUSim.cpp
@@ -14,9 +14,6 @@ ADIS16470_IMUSim::ADIS16470_IMUSim(const frc::ADIS16470_IMU& imu) {
   m_simGyroAngleX = deviceSim.GetDouble("gyro_angle_x");
   m_simGyroAngleY = deviceSim.GetDouble("gyro_angle_y");
   m_simGyroAngleZ = deviceSim.GetDouble("gyro_angle_z");
-  m_simGyroRateX = deviceSim.GetDouble("gyro_rate_x");
-  m_simGyroRateY = deviceSim.GetDouble("gyro_rate_y");
-  m_simGyroRateZ = deviceSim.GetDouble("gyro_rate_z");
   m_simAccelX = deviceSim.GetDouble("accel_x");
   m_simAccelY = deviceSim.GetDouble("accel_y");
   m_simAccelZ = deviceSim.GetDouble("accel_z");
@@ -34,26 +31,14 @@ void ADIS16470_IMUSim::SetGyroAngleZ(units::degree_t angle) {
   m_simGyroAngleZ.Set(angle.value());
 }
 
-void ADIS16470_IMUSim::SetGyroRateX(units::degrees_per_second_t rate) {
-  m_simGyroRateX.Set(rate.value());
-}
-
-void ADIS16470_IMUSim::SetGyroRateY(units::degrees_per_second_t rate) {
-  m_simGyroRateY.Set(rate.value());
-}
-
-void ADIS16470_IMUSim::SetGyroRateZ(units::degrees_per_second_t rate) {
-  m_simGyroRateZ.Set(rate.value());
-}
-
 void ADIS16470_IMUSim::SetAccelX(units::meters_per_second_squared_t accel) {
-  m_simAccelX.Set(accel.value() / 9.81);
+  m_simAccelX.Set(accel.value());
 }
 
 void ADIS16470_IMUSim::SetAccelY(units::meters_per_second_squared_t accel) {
-  m_simAccelY.Set(accel.value() / 9.81);
+  m_simAccelY.Set(accel.value());
 }
 
 void ADIS16470_IMUSim::SetAccelZ(units::meters_per_second_squared_t accel) {
-  m_simAccelZ.Set(accel.value() / 9.81);
+  m_simAccelZ.Set(accel.value());
 }
diff --git a/wpilibc/src/main/native/include/frc/ADIS16448_IMU.h b/wpilibc/src/main/native/include/frc/ADIS16448_IMU.h
index beae5b1788..6dff72f68c 100644
--- a/wpilibc/src/main/native/include/frc/ADIS16448_IMU.h
+++ b/wpilibc/src/main/native/include/frc/ADIS16448_IMU.h
@@ -13,10 +13,6 @@
 
 #pragma once
 
-#include <frc/DigitalInput.h>
-#include <frc/DigitalOutput.h>
-#include <frc/DigitalSource.h>
-#include <frc/SPI.h>
 #include <stdint.h>
 
 #include <atomic>
@@ -25,10 +21,21 @@
 
 #include <hal/SimDevice.h>
 #include <networktables/NTSendable.h>
+#include <units/acceleration.h>
+#include <units/angle.h>
+#include <units/angular_velocity.h>
+#include <units/magnetic_field_strength.h>
+#include <units/pressure.h>
+#include <units/temperature.h>
 #include <wpi/condition_variable.h>
 #include <wpi/mutex.h>
 #include <wpi/sendable/SendableHelper.h>
 
+#include "frc/DigitalInput.h"
+#include "frc/DigitalOutput.h"
+#include "frc/DigitalSource.h"
+#include "frc/SPI.h"
+
 namespace frc {
 /**
  * Use DMA SPI to read rate, acceleration, and magnetometer data from the
@@ -49,6 +56,22 @@ namespace frc {
 class ADIS16448_IMU : public nt::NTSendable,
                       public wpi::SendableHelper<ADIS16448_IMU> {
  public:
+  /* ADIS16448 Calibration Time Enum Class */
+  enum class CalibrationTime {
+    _32ms = 0,
+    _64ms = 1,
+    _128ms = 2,
+    _256ms = 3,
+    _512ms = 4,
+    _1s = 5,
+    _2s = 6,
+    _4s = 7,
+    _8s = 8,
+    _16s = 9,
+    _32s = 10,
+    _64s = 11
+  };
+
   enum IMUAxis { kX, kY, kZ };
 
   /**
@@ -65,7 +88,8 @@ class ADIS16448_IMU : public nt::NTSendable,
    * @param port The SPI port where the IMU is connected.
    * @param cal_time The calibration time that should be used on start-up.
    */
-  explicit ADIS16448_IMU(IMUAxis yaw_axis, SPI::Port port, uint16_t cal_time);
+  explicit ADIS16448_IMU(IMUAxis yaw_axis, SPI::Port port,
+                         CalibrationTime cal_time);
 
   ~ADIS16448_IMU() override;
 
@@ -93,7 +117,7 @@ class ADIS16448_IMU : public nt::NTSendable,
    *
    * @param new_cal_time The calibration time that should be used
    */
-  int ConfigCalTime(int new_cal_time);
+  int ConfigCalTime(CalibrationTime new_cal_time);
 
   /**
    * Reset the gyro.
@@ -105,64 +129,57 @@ class ADIS16448_IMU : public nt::NTSendable,
   void Reset();
 
   /**
-   * Return the actual angle in degrees that the robot is currently facing.
-   *
-   * The angle is based on the current accumulator value corrected by
-   * offset calibration and built-in IMU calibration. The angle is continuous,
-   * that is it will continue from 360->361 degrees. This allows algorithms
-   * that wouldn't want to see a discontinuity in the gyro output as it sweeps
-   * from 360 to 0 on the second time around. The axis returned by this
-   * function is adjusted fased on the configured yaw_axis.
-   *
-   * @return the current heading of the robot in degrees. This heading is based
-   *         on integration of the returned rate from the gyro.
+   * Returns the yaw axis angle in degrees (CCW positive).
    */
-  double GetAngle() const;
+  units::degree_t GetAngle() const;
 
   /**
-   * Return the rate of rotation of the yaw_axis gyro.
-   *
-   * The rate is based on the most recent reading of the gyro value
-   *
-   * @return the current rate in degrees per second
+   * Returns the accumulated gyro angle in the X axis.
    */
-  double GetRate() const;
+  units::degree_t GetGyroAngleX() const;
 
-  double GetGyroAngleX() const;
+  /**
+   * Returns the accumulated gyro angle in the Y axis.
+   */
+  units::degree_t GetGyroAngleY() const;
 
-  double GetGyroAngleY() const;
+  /**
+   * Returns the accumulated gyro angle in the Z axis.
+   */
+  units::degree_t GetGyroAngleZ() const;
 
-  double GetGyroAngleZ() const;
+  /**
+   * Returns the acceleration in the X axis.
+   */
+  units::meters_per_second_squared_t GetAccelX() const;
 
-  double GetGyroRateX() const;
+  /**
+   * Returns the acceleration in the Y axis.
+   */
+  units::meters_per_second_squared_t GetAccelY() const;
 
-  double GetGyroRateY() const;
+  /**
+   * Returns the acceleration in the Z axis.
+   */
+  units::meters_per_second_squared_t GetAccelZ() const;
 
-  double GetGyroRateZ() const;
+  units::degree_t GetXComplementaryAngle() const;
 
-  double GetAccelX() const;
+  units::degree_t GetYComplementaryAngle() const;
 
-  double GetAccelY() const;
+  units::degree_t GetXFilteredAccelAngle() const;
 
-  double GetAccelZ() const;
+  units::degree_t GetYFilteredAccelAngle() const;
 
-  double GetXComplementaryAngle() const;
+  units::tesla_t GetMagneticFieldX() const;
 
-  double GetYComplementaryAngle() const;
+  units::tesla_t GetMagneticFieldY() const;
 
-  double GetXFilteredAccelAngle() const;
+  units::tesla_t GetMagneticFieldZ() const;
 
-  double GetYFilteredAccelAngle() const;
+  units::pounds_per_square_inch_t GetBarometricPressure() const;
 
-  double GetMagInstantX() const;
-
-  double GetMagInstantY() const;
-
-  double GetMagInstantZ() const;
-
-  double GetBarometricPressure() const;
-
-  double GetTemperature() const;
+  units::celsius_t GetTemperature() const;
 
   IMUAxis GetYawAxis() const;
 
@@ -317,7 +334,7 @@ class ADIS16448_IMU : public nt::NTSendable,
 
   bool m_auto_configured = false;
   SPI::Port m_spi_port;
-  uint16_t m_calibration_time;
+  CalibrationTime m_calibration_time;
   SPI* m_spi = nullptr;
   DigitalInput* m_auto_interrupt = nullptr;
 
@@ -327,9 +344,6 @@ class ADIS16448_IMU : public nt::NTSendable,
   hal::SimDouble m_simGyroAngleX;
   hal::SimDouble m_simGyroAngleY;
   hal::SimDouble m_simGyroAngleZ;
-  hal::SimDouble m_simGyroRateX;
-  hal::SimDouble m_simGyroRateY;
-  hal::SimDouble m_simGyroRateZ;
   hal::SimDouble m_simAccelX;
   hal::SimDouble m_simAccelY;
   hal::SimDouble m_simAccelZ;
diff --git a/wpilibc/src/main/native/include/frc/ADIS16470_IMU.h b/wpilibc/src/main/native/include/frc/ADIS16470_IMU.h
index 78aa1eabdd..3c88bb6069 100644
--- a/wpilibc/src/main/native/include/frc/ADIS16470_IMU.h
+++ b/wpilibc/src/main/native/include/frc/ADIS16470_IMU.h
@@ -13,10 +13,6 @@
 
 #pragma once
 
-#include <frc/DigitalInput.h>
-#include <frc/DigitalOutput.h>
-#include <frc/DigitalSource.h>
-#include <frc/SPI.h>
 #include <stdint.h>
 
 #include <atomic>
@@ -25,10 +21,18 @@
 
 #include <hal/SimDevice.h>
 #include <networktables/NTSendable.h>
+#include <units/acceleration.h>
+#include <units/angle.h>
+#include <units/angular_velocity.h>
 #include <wpi/condition_variable.h>
 #include <wpi/mutex.h>
 #include <wpi/sendable/SendableHelper.h>
 
+#include "frc/DigitalInput.h"
+#include "frc/DigitalOutput.h"
+#include "frc/DigitalSource.h"
+#include "frc/SPI.h"
+
 namespace frc {
 /**
  * Use DMA SPI to read rate and acceleration data from the ADIS16470 IMU and
@@ -119,41 +123,32 @@ class ADIS16470_IMU : public nt::NTSendable,
   void Reset();
 
   /**
-   * @brief Returns the current integrated angle for the axis specified.
-   *
-   * The angle is based on the current accumulator value corrected by
-   * offset calibration and built-in IMU calibration. The angle is continuous,
-   * that is it will continue from 360->361 degrees. This allows algorithms
-   * that wouldn't want to see a discontinuity in the gyro output as it sweeps
-   * from 360 to 0 on the second time around. The axis returned by this
-   * function is adjusted based on the configured yaw_axis.
-   *
-   * @return the current heading of the robot in degrees. This heading is based
-   *         on integration of the returned rate from the gyro.
+   * Returns the yaw axis angle in degrees (CCW positive).
    */
-  double GetAngle() const;
+  units::degree_t GetAngle() const;
 
-  double GetRate() const;
+  /**
+   * Returns the acceleration in the X axis.
+   */
+  units::meters_per_second_squared_t GetAccelX() const;
 
-  double GetGyroRateX() const;
+  /**
+   * Returns the acceleration in the Y axis.
+   */
+  units::meters_per_second_squared_t GetAccelY() const;
 
-  double GetGyroRateY() const;
+  /**
+   * Returns the acceleration in the Z axis.
+   */
+  units::meters_per_second_squared_t GetAccelZ() const;
 
-  double GetGyroRateZ() const;
+  units::degree_t GetXComplementaryAngle() const;
 
-  double GetAccelX() const;
+  units::degree_t GetYComplementaryAngle() const;
 
-  double GetAccelY() const;
+  units::degree_t GetXFilteredAccelAngle() const;
 
-  double GetAccelZ() const;
-
-  double GetXComplementaryAngle() const;
-
-  double GetYComplementaryAngle() const;
-
-  double GetXFilteredAccelAngle() const;
-
-  double GetYFilteredAccelAngle() const;
+  units::degree_t GetYFilteredAccelAngle() const;
 
   IMUAxis GetYawAxis() const;
 
@@ -380,9 +375,6 @@ class ADIS16470_IMU : public nt::NTSendable,
   hal::SimDouble m_simGyroAngleX;
   hal::SimDouble m_simGyroAngleY;
   hal::SimDouble m_simGyroAngleZ;
-  hal::SimDouble m_simGyroRateX;
-  hal::SimDouble m_simGyroRateY;
-  hal::SimDouble m_simGyroRateZ;
   hal::SimDouble m_simAccelX;
   hal::SimDouble m_simAccelY;
   hal::SimDouble m_simAccelZ;
diff --git a/wpilibc/src/main/native/include/frc/simulation/ADIS16448_IMUSim.h b/wpilibc/src/main/native/include/frc/simulation/ADIS16448_IMUSim.h
index b7dfe8ab64..4cb1d91fa9 100644
--- a/wpilibc/src/main/native/include/frc/simulation/ADIS16448_IMUSim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/ADIS16448_IMUSim.h
@@ -48,27 +48,6 @@ class ADIS16448_IMUSim {
    */
   void SetGyroAngleZ(units::degree_t angle);
 
-  /**
-   * Sets the X axis angular rate (CCW positive).
-   *
-   * @param rate The angular rate.
-   */
-  void SetGyroRateX(units::degrees_per_second_t rate);
-
-  /**
-   * Sets the Y axis angular rate (CCW positive).
-   *
-   * @param rate The angular rate.
-   */
-  void SetGyroRateY(units::degrees_per_second_t rate);
-
-  /**
-   * Sets the Z axis angular rate (CCW positive).
-   *
-   * @param rate The angular rate.
-   */
-  void SetGyroRateZ(units::degrees_per_second_t rate);
-
   /**
    * Sets the X axis acceleration.
    *
@@ -94,9 +73,6 @@ class ADIS16448_IMUSim {
   hal::SimDouble m_simGyroAngleX;
   hal::SimDouble m_simGyroAngleY;
   hal::SimDouble m_simGyroAngleZ;
-  hal::SimDouble m_simGyroRateX;
-  hal::SimDouble m_simGyroRateY;
-  hal::SimDouble m_simGyroRateZ;
   hal::SimDouble m_simAccelX;
   hal::SimDouble m_simAccelY;
   hal::SimDouble m_simAccelZ;
diff --git a/wpilibc/src/main/native/include/frc/simulation/ADIS16470_IMUSim.h b/wpilibc/src/main/native/include/frc/simulation/ADIS16470_IMUSim.h
index e1135aeb09..00d245d39b 100644
--- a/wpilibc/src/main/native/include/frc/simulation/ADIS16470_IMUSim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/ADIS16470_IMUSim.h
@@ -48,27 +48,6 @@ class ADIS16470_IMUSim {
    */
   void SetGyroAngleZ(units::degree_t angle);
 
-  /**
-   * Sets the X axis angular rate (CCW positive).
-   *
-   * @param rate The angular rate.
-   */
-  void SetGyroRateX(units::degrees_per_second_t rate);
-
-  /**
-   * Sets the Y axis angular rate (CCW positive).
-   *
-   * @param rate The angular rate.
-   */
-  void SetGyroRateY(units::degrees_per_second_t rate);
-
-  /**
-   * Sets the Z axis angular rate (CCW positive).
-   *
-   * @param rate The angular rate.
-   */
-  void SetGyroRateZ(units::degrees_per_second_t rate);
-
   /**
    * Sets the X axis acceleration.
    *
@@ -94,9 +73,6 @@ class ADIS16470_IMUSim {
   hal::SimDouble m_simGyroAngleX;
   hal::SimDouble m_simGyroAngleY;
   hal::SimDouble m_simGyroAngleZ;
-  hal::SimDouble m_simGyroRateX;
-  hal::SimDouble m_simGyroRateY;
-  hal::SimDouble m_simGyroRateZ;
   hal::SimDouble m_simAccelX;
   hal::SimDouble m_simAccelY;
   hal::SimDouble m_simAccelZ;
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java
index 206cdb0ac0..b11072d2a7 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java
@@ -19,7 +19,6 @@ import edu.wpi.first.hal.SimDevice;
 import edu.wpi.first.hal.SimDouble;
 import edu.wpi.first.networktables.NTSendable;
 import edu.wpi.first.networktables.NTSendableBuilder;
-import edu.wpi.first.wpilibj.interfaces.Gyro;
 
 // CHECKSTYLE.OFF: TypeName
 // CHECKSTYLE.OFF: MemberName
@@ -50,7 +49,7 @@ import edu.wpi.first.wpilibj.interfaces.Gyro;
   "PMD.EmptyIfStmt",
   "PMD.EmptyStatementNotInLoop"
 })
-public class ADIS16448_IMU implements Gyro, NTSendable {
+public class ADIS16448_IMU implements AutoCloseable, NTSendable {
   /** ADIS16448 Register Map Declaration */
   private static final int FLASH_CNT = 0x00; // Flash memory write count
 
@@ -94,6 +93,27 @@ public class ADIS16448_IMU implements Gyro, NTSendable {
   private static final int PROD_ID = 0x56; // Product identifier
   private static final int SERIAL_NUM = 0x58; // Lot-specific serial number
 
+  public enum CalibrationTime {
+    _32ms(0),
+    _64ms(1),
+    _128ms(2),
+    _256ms(3),
+    _512ms(4),
+    _1s(5),
+    _2s(6),
+    _4s(7),
+    _8s(8),
+    _16s(9),
+    _32s(10),
+    _64s(11);
+
+    private int value;
+
+    private CalibrationTime(int value) {
+      this.value = value;
+    }
+  }
+
   public enum IMUAxis {
     kX,
     kY,
@@ -149,7 +169,7 @@ public class ADIS16448_IMU implements Gyro, NTSendable {
 
   /* State variables */
   private volatile boolean m_thread_active = false;
-  private int m_calibration_time = 0;
+  private CalibrationTime m_calibration_time = CalibrationTime._512ms;
   private volatile boolean m_first_run = true;
   private volatile boolean m_thread_idle = false;
   private boolean m_auto_configured = false;
@@ -168,9 +188,6 @@ public class ADIS16448_IMU implements Gyro, NTSendable {
   private SimDouble m_simGyroAngleX;
   private SimDouble m_simGyroAngleY;
   private SimDouble m_simGyroAngleZ;
-  private SimDouble m_simGyroRateX;
-  private SimDouble m_simGyroRateY;
-  private SimDouble m_simGyroRateZ;
   private SimDouble m_simAccelX;
   private SimDouble m_simAccelY;
   private SimDouble m_simAccelZ;
@@ -226,7 +243,7 @@ public class ADIS16448_IMU implements Gyro, NTSendable {
   }
 
   public ADIS16448_IMU() {
-    this(IMUAxis.kZ, SPI.Port.kMXP, 4);
+    this(IMUAxis.kZ, SPI.Port.kMXP, CalibrationTime._512ms);
   }
 
   /**
@@ -234,7 +251,7 @@ public class ADIS16448_IMU implements Gyro, NTSendable {
    * @param port The SPI Port the gyro is plugged into
    * @param cal_time Calibration time
    */
-  public ADIS16448_IMU(final IMUAxis yaw_axis, SPI.Port port, int cal_time) {
+  public ADIS16448_IMU(final IMUAxis yaw_axis, SPI.Port port, CalibrationTime cal_time) {
     m_yaw_axis = yaw_axis;
     m_spi_port = port;
 
@@ -245,9 +262,6 @@ public class ADIS16448_IMU implements Gyro, NTSendable {
       m_simGyroAngleX = m_simDevice.createDouble("gyro_angle_x", SimDevice.Direction.kInput, 0.0);
       m_simGyroAngleY = m_simDevice.createDouble("gyro_angle_y", SimDevice.Direction.kInput, 0.0);
       m_simGyroAngleZ = m_simDevice.createDouble("gyro_angle_z", SimDevice.Direction.kInput, 0.0);
-      m_simGyroRateX = m_simDevice.createDouble("gyro_rate_x", SimDevice.Direction.kInput, 0.0);
-      m_simGyroRateY = m_simDevice.createDouble("gyro_rate_y", SimDevice.Direction.kInput, 0.0);
-      m_simGyroRateZ = m_simDevice.createDouble("gyro_rate_z", SimDevice.Direction.kInput, 0.0);
       m_simAccelX = m_simDevice.createDouble("accel_x", SimDevice.Direction.kInput, 0.0);
       m_simAccelY = m_simDevice.createDouble("accel_y", SimDevice.Direction.kInput, 0.0);
       m_simAccelZ = m_simDevice.createDouble("accel_z", SimDevice.Direction.kInput, 0.0);
@@ -287,7 +301,7 @@ public class ADIS16448_IMU implements Gyro, NTSendable {
           "ADIS16448 IMU Detected. Starting initial calibration delay.", false);
       // Wait for whatever time the user set as the start-up delay
       try {
-        Thread.sleep((long) (m_calibration_time * 1.2 * 1000));
+        Thread.sleep((long) (m_calibration_time.value * 1.2 * 1000));
       } catch (InterruptedException e) {
       }
       // Execute calibration routine
@@ -498,12 +512,12 @@ public class ADIS16448_IMU implements Gyro, NTSendable {
    * @param new_cal_time New calibration time
    * @return 1 if the new calibration time is the same as the current one else 0
    */
-  public int configCalTime(int new_cal_time) {
+  public int configCalTime(CalibrationTime new_cal_time) {
     if (m_calibration_time == new_cal_time) {
       return 1;
     } else {
       m_calibration_time = new_cal_time;
-      m_avg_size = m_calibration_time * 819;
+      m_avg_size = m_calibration_time.value * 819;
       initOffsetBuffer(m_avg_size);
       return 0;
     }
@@ -526,8 +540,11 @@ public class ADIS16448_IMU implements Gyro, NTSendable {
     }
   }
 
-  /** {@inheritDoc} */
-  @Override
+  /**
+   * Calibrate the gyro. It's important to make sure that the robot is not moving while the
+   * calibration is in progress, this is typically done when the robot is first turned on while it's
+   * sitting at rest before the match starts.
+   */
   public void calibrate() {
     synchronized (this) {
       int gyroAverageSize = Math.min(m_accum_count, m_avg_size);
@@ -919,7 +936,7 @@ public class ADIS16448_IMU implements Gyro, NTSendable {
     return compAngle;
   }
 
-  /** */
+  /** @return Yaw axis angle in degrees (CCW positive) */
   public synchronized double getAngle() {
     switch (m_yaw_axis) {
       case kX:
@@ -933,26 +950,12 @@ public class ADIS16448_IMU implements Gyro, NTSendable {
     }
   }
 
-  /** */
-  public synchronized double getRate() {
-    switch (m_yaw_axis) {
-      case kX:
-        return getGyroRateX();
-      case kY:
-        return getGyroRateY();
-      case kZ:
-        return getGyroRateZ();
-      default:
-        return 0.0;
-    }
-  }
-
   /** @return Yaw Axis */
   public IMUAxis getYawAxis() {
     return m_yaw_axis;
   }
 
-  /** @return accumulated gyro angle in the X axis */
+  /** @return accumulated gyro angle in the X axis in degrees */
   public synchronized double getGyroAngleX() {
     if (m_simGyroAngleX != null) {
       return m_simGyroAngleX.get();
@@ -960,7 +963,7 @@ public class ADIS16448_IMU implements Gyro, NTSendable {
     return m_integ_gyro_x;
   }
 
-  /** @return accumulated gyro angle in the Y axis */
+  /** @return accumulated gyro angle in the Y axis in degrees */
   public synchronized double getGyroAngleY() {
     if (m_simGyroAngleY != null) {
       return m_simGyroAngleY.get();
@@ -968,7 +971,7 @@ public class ADIS16448_IMU implements Gyro, NTSendable {
     return m_integ_gyro_y;
   }
 
-  /** @return accumulated gyro angle in the Z axis */
+  /** @return accumulated gyro angle in the Z axis in degrees */
   public synchronized double getGyroAngleZ() {
     if (m_simGyroAngleZ != null) {
       return m_simGyroAngleZ.get();
@@ -976,95 +979,75 @@ public class ADIS16448_IMU implements Gyro, NTSendable {
     return m_integ_gyro_z;
   }
 
-  /** @return current gyro angle in the X axis */
-  public synchronized double getGyroRateX() {
-    if (m_simGyroRateX != null) {
-      return m_simGyroRateX.get();
-    }
-    return m_gyro_x;
-  }
-
-  /** @return current gyro angle in the Y axis */
-  public synchronized double getGyroRateY() {
-    if (m_simGyroRateY != null) {
-      return m_simGyroRateY.get();
-    }
-    return m_gyro_y;
-  }
-
-  /** @return current gyro angle in the Z axis */
-  public synchronized double getGyroRateZ() {
-    if (m_simGyroRateZ != null) {
-      return m_simGyroRateZ.get();
-    }
-    return m_gyro_z;
-  }
-
-  /** @return urrent acceleration in the X axis */
+  /** @return urrent acceleration in the X axis in meters per second squared */
   public synchronized double getAccelX() {
     if (m_simAccelX != null) {
       return m_simAccelX.get();
     }
-    return m_accel_x;
+    return m_accel_x * 9.81;
   }
 
-  /** @return current acceleration in the Y axis */
+  /** @return current acceleration in the Y axis in meters per second squared */
   public synchronized double getAccelY() {
     if (m_simAccelY != null) {
       return m_simAccelY.get();
     }
-    return m_accel_y;
+    return m_accel_y * 9.81;
   }
 
-  /** @return current acceleration in the Z axis */
+  /** @return current acceleration in the Z axis in meters per second squared */
   public synchronized double getAccelZ() {
     if (m_simAccelZ != null) {
       return m_simAccelZ.get();
     }
-    return m_accel_z;
+    return m_accel_z * 9.81;
   }
 
-  /** @return Mag instant X */
-  public synchronized double getMagInstantX() {
-    return m_mag_x;
+  /** @return Magnetic field strength in the X axis in Tesla */
+  public synchronized double getMagneticFieldX() {
+    // mG to T
+    return m_mag_x * 1e-7;
   }
 
-  /** @return Mag instant Y */
-  public synchronized double getMagInstantY() {
-    return m_mag_y;
+  /** @return Magnetic field strength in the Y axis in Tesla */
+  public synchronized double getMagneticFieldY() {
+    // mG to T
+    return m_mag_y * 1e-7;
   }
 
-  /** @return Mag instant Z */
-  public synchronized double getMagInstantZ() {
-    return m_mag_z;
+  /** @return Magnetic field strength in the Z axis in Tesla */
+  public synchronized double getMagneticFieldZ() {
+    // mG to T
+    return m_mag_z * 1e-7;
   }
 
-  /** @return X axis complementary angle */
+  /** @return X axis complementary angle in degrees */
   public synchronized double getXComplementaryAngle() {
     return m_compAngleX;
   }
 
-  /** @return Y axis complementary angle */
+  /** @return Y axis complementary angle in degrees */
   public synchronized double getYComplementaryAngle() {
     return m_compAngleY;
   }
 
-  /** @return X axis filtered acceleration angle */
+  /** @return X axis filtered acceleration angle in degrees */
   public synchronized double getXFilteredAccelAngle() {
     return m_accelAngleX;
   }
 
-  /** @return Y axis filtered acceleration angle */
+  /** @return Y axis filtered acceleration angle in degrees */
   public synchronized double getYFilteredAccelAngle() {
     return m_accelAngleY;
   }
 
-  /** @return Barometric Pressure */
+  /** @return Barometric Pressure in PSI */
   public synchronized double getBarometricPressure() {
-    return m_baro;
+    // mbar to PSI
+    return m_baro * 0.0145;
   }
 
-  /** @return Temperature */
+  /** @return Temperature in degrees Celsius */
   public synchronized double getTemperature() {
     return m_temp;
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
index 890b6e50af..2b840f0745 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
@@ -18,7 +18,6 @@ import edu.wpi.first.hal.SimDevice;
 import edu.wpi.first.hal.SimDouble;
 import edu.wpi.first.networktables.NTSendable;
 import edu.wpi.first.networktables.NTSendableBuilder;
-import edu.wpi.first.wpilibj.interfaces.Gyro;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 
@@ -51,7 +50,7 @@ import java.nio.ByteOrder;
   "PMD.EmptyIfStmt",
   "PMD.EmptyStatementNotInLoop"
 })
-public class ADIS16470_IMU implements Gyro, NTSendable {
+public class ADIS16470_IMU implements AutoCloseable, NTSendable {
   /* ADIS16470 Register Map Declaration */
   private static final int FLASH_CNT = 0x00; // Flash memory write count
   private static final int DIAG_STAT = 0x02; // Diagnostic and operational status
@@ -179,13 +178,7 @@ public class ADIS16470_IMU implements Gyro, NTSendable {
     FLASH_CNT
   };
 
-  public enum IMUAxis {
-    kX,
-    kY,
-    kZ
-  }
-
-  public enum ADIS16470CalibrationTime {
+  public enum CalibrationTime {
     _32ms(0),
     _64ms(1),
     _128ms(2),
@@ -201,11 +194,17 @@ public class ADIS16470_IMU implements Gyro, NTSendable {
 
     private int value;
 
-    private ADIS16470CalibrationTime(int value) {
+    private CalibrationTime(int value) {
       this.value = value;
     }
   }
 
+  public enum IMUAxis {
+    kX,
+    kY,
+    kZ
+  }
+
   // Static Constants
   private static final double delta_angle_sf = 2160.0 / 2147483648.0; /* 2160 / (2^31) */
   private static final double rad_to_deg = 57.2957795;
@@ -256,9 +255,6 @@ public class ADIS16470_IMU implements Gyro, NTSendable {
   private SimDouble m_simGyroAngleX;
   private SimDouble m_simGyroAngleY;
   private SimDouble m_simGyroAngleZ;
-  private SimDouble m_simGyroRateX;
-  private SimDouble m_simGyroRateY;
-  private SimDouble m_simGyroRateZ;
   private SimDouble m_simAccelX;
   private SimDouble m_simAccelY;
   private SimDouble m_simAccelZ;
@@ -277,7 +273,7 @@ public class ADIS16470_IMU implements Gyro, NTSendable {
   }
 
   public ADIS16470_IMU() {
-    this(IMUAxis.kZ, SPI.Port.kOnboardCS0, ADIS16470CalibrationTime._4s);
+    this(IMUAxis.kZ, SPI.Port.kOnboardCS0, CalibrationTime._4s);
   }
 
   /**
@@ -285,7 +281,7 @@ public class ADIS16470_IMU implements Gyro, NTSendable {
    * @param port The SPI Port the gyro is plugged into
    * @param cal_time Calibration time
    */
-  public ADIS16470_IMU(IMUAxis yaw_axis, SPI.Port port, ADIS16470CalibrationTime cal_time) {
+  public ADIS16470_IMU(IMUAxis yaw_axis, SPI.Port port, CalibrationTime cal_time) {
     m_yaw_axis = yaw_axis;
     m_calibration_time = cal_time.value;
     m_spi_port = port;
@@ -297,9 +293,6 @@ public class ADIS16470_IMU implements Gyro, NTSendable {
       m_simGyroAngleX = m_simDevice.createDouble("gyro_angle_x", SimDevice.Direction.kInput, 0.0);
       m_simGyroAngleY = m_simDevice.createDouble("gyro_angle_y", SimDevice.Direction.kInput, 0.0);
       m_simGyroAngleZ = m_simDevice.createDouble("gyro_angle_z", SimDevice.Direction.kInput, 0.0);
-      m_simGyroRateX = m_simDevice.createDouble("gyro_rate_x", SimDevice.Direction.kInput, 0.0);
-      m_simGyroRateY = m_simDevice.createDouble("gyro_rate_y", SimDevice.Direction.kInput, 0.0);
-      m_simGyroRateZ = m_simDevice.createDouble("gyro_rate_z", SimDevice.Direction.kInput, 0.0);
       m_simAccelX = m_simDevice.createDouble("accel_x", SimDevice.Direction.kInput, 0.0);
       m_simAccelY = m_simDevice.createDouble("accel_y", SimDevice.Direction.kInput, 0.0);
       m_simAccelZ = m_simDevice.createDouble("accel_z", SimDevice.Direction.kInput, 0.0);
@@ -533,7 +526,7 @@ public class ADIS16470_IMU implements Gyro, NTSendable {
    * @param new_cal_time New calibration time
    * @return 1 if the new calibration time is the same as the current one else 0
    */
-  public int configCalTime(ADIS16470CalibrationTime new_cal_time) {
+  public int configCalTime(CalibrationTime new_cal_time) {
     if (m_calibration_time == new_cal_time.value) {
       return 1;
     }
@@ -570,8 +563,11 @@ public class ADIS16470_IMU implements Gyro, NTSendable {
     return 0;
   }
 
-  /** {@inheritDoc} */
-  @Override
+  /**
+   * Calibrate the gyro. It's important to make sure that the robot is not moving while the
+   * calibration is in progress, this is typically done when the robot is first turned on while it's
+   * sitting at rest before the match starts.
+   */
   public void calibrate() {
     if (!switchToStandardSPI()) {
       DriverStation.reportError("Failed to configure/reconfigure standard SPI.", false);
@@ -916,7 +912,7 @@ public class ADIS16470_IMU implements Gyro, NTSendable {
     return compAngle;
   }
 
-  /** {@inheritDoc} */
+  /** @return Yaw axis angle in degrees (CCW positive) */
   public synchronized double getAngle() {
     switch (m_yaw_axis) {
       case kX:
@@ -938,61 +934,24 @@ public class ADIS16470_IMU implements Gyro, NTSendable {
     return m_integ_angle;
   }
 
-  /** {@inheritDoc} */
-  public synchronized double getRate() {
-    switch (m_yaw_axis) {
-      case kX:
-        return getGyroRateX();
-      case kY:
-        return getGyroRateY();
-      case kZ:
-        return getGyroRateZ();
-    }
-    return 0.0;
-  }
-
   /** @return Yaw Axis */
   public IMUAxis getYawAxis() {
     return m_yaw_axis;
   }
 
-  /** @return current gyro angle in the X direction */
-  public synchronized double getGyroRateX() {
-    if (m_simGyroRateX != null) {
-      return m_simGyroRateX.get();
-    }
-    return m_gyro_x;
-  }
-
-  /** @return current gyro angle in the Y axis */
-  public synchronized double getGyroRateY() {
-    if (m_simGyroRateY != null) {
-      return m_simGyroRateY.get();
-    }
-    return m_gyro_y;
-  }
-
-  /** @return current gyro angle in the Z axis */
-  public synchronized double getGyroRateZ() {
-    if (m_simGyroRateZ != null) {
-      return m_simGyroRateZ.get();
-    }
-    return m_gyro_z;
-  }
-
   /** @return current acceleration in the X axis */
-  public synchronized double getAccelInstantX() {
-    return m_accel_x;
+  public synchronized double getAccelX() {
+    return m_accel_x * 9.81;
   }
 
   /** @return current acceleration in the Y axis */
-  public synchronized double getAccelInstantY() {
-    return m_accel_y;
+  public synchronized double getAccelY() {
+    return m_accel_y * 9.81;
   }
 
   /** @return current acceleration in the Z axis */
-  public synchronized double getAccelInstantZ() {
-    return m_accel_z;
+  public synchronized double getAccelZ() {
+    return m_accel_z * 9.81;
   }
 
   /** @return X axis complementary angle */
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADIS16448_IMUSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADIS16448_IMUSim.java
index 149f789b59..d8c96ed7fa 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADIS16448_IMUSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADIS16448_IMUSim.java
@@ -13,9 +13,6 @@ public class ADIS16448_IMUSim {
   private final SimDouble m_simGyroAngleX;
   private final SimDouble m_simGyroAngleY;
   private final SimDouble m_simGyroAngleZ;
-  private final SimDouble m_simGyroRateX;
-  private final SimDouble m_simGyroRateY;
-  private final SimDouble m_simGyroRateZ;
   private final SimDouble m_simAccelX;
   private final SimDouble m_simAccelY;
   private final SimDouble m_simAccelZ;
@@ -30,16 +27,13 @@ public class ADIS16448_IMUSim {
     m_simGyroAngleX = wrappedSimDevice.getDouble("gyro_angle_x");
     m_simGyroAngleY = wrappedSimDevice.getDouble("gyro_angle_y");
     m_simGyroAngleZ = wrappedSimDevice.getDouble("gyro_angle_z");
-    m_simGyroRateX = wrappedSimDevice.getDouble("gyro_rate_x");
-    m_simGyroRateY = wrappedSimDevice.getDouble("gyro_rate_y");
-    m_simGyroRateZ = wrappedSimDevice.getDouble("gyro_rate_z");
     m_simAccelX = wrappedSimDevice.getDouble("accel_x");
     m_simAccelY = wrappedSimDevice.getDouble("accel_y");
     m_simAccelZ = wrappedSimDevice.getDouble("accel_z");
   }
 
   /**
-   * Sets the X axis angle (CCW positive).
+   * Sets the X axis angle in degrees (CCW positive).
    *
    * @param angleDegrees The angle.
    */
@@ -48,7 +42,7 @@ public class ADIS16448_IMUSim {
   }
 
   /**
-   * Sets the Y axis angle (CCW positive).
+   * Sets the Y axis angle in degrees (CCW positive).
    *
    * @param angleDegrees The angle.
    */
@@ -57,7 +51,7 @@ public class ADIS16448_IMUSim {
   }
 
   /**
-   * Sets the Z axis angle (CCW positive).
+   * Sets the Z axis angle in degrees (CCW positive).
    *
    * @param angleDegrees The angle.
    */
@@ -66,56 +60,29 @@ public class ADIS16448_IMUSim {
   }
 
   /**
-   * Sets the X axis angular rate (CCW positive).
+   * Sets the X axis acceleration in meters per second squared.
    *
-   * @param rateDegreesPerSecond The angular rate.
+   * @param accelMetersPerSecondSquared The acceleration.
    */
-  public void setGyroRateX(double rateDegreesPerSecond) {
-    m_simGyroRateX.set(rateDegreesPerSecond);
+  public void setAccelX(double accelMetersPerSecondSquared) {
+    m_simAccelX.set(accelMetersPerSecondSquared);
   }
 
   /**
-   * Sets the Y axis angular rate (CCW positive).
+   * Sets the Y axis acceleration in meters per second squared.
    *
-   * @param rateDegreesPerSecond The angular rate.
+   * @param accelMetersPerSecondSquared The acceleration.
    */
-  public void setGyroRateY(double rateDegreesPerSecond) {
-    m_simGyroRateY.set(rateDegreesPerSecond);
+  public void setAccelY(double accelMetersPerSecondSquared) {
+    m_simAccelY.set(accelMetersPerSecondSquared);
   }
 
   /**
-   * Sets the Z axis angular rate (CCW positive).
+   * Sets the Z axis acceleration in meters per second squared.
    *
-   * @param rateDegreesPerSecond The angular rate.
+   * @param accelMetersPerSecondSquared The acceleration.
    */
-  public void setGyroRateZ(double rateDegreesPerSecond) {
-    m_simGyroRateZ.set(rateDegreesPerSecond);
-  }
-
-  /**
-   * Sets the X axis acceleration.
-   *
-   * @param accelMetersPerSecond The acceleration.
-   */
-  public void setAccelX(double accelMetersPerSecond) {
-    m_simAccelX.set(accelMetersPerSecond / 9.81);
-  }
-
-  /**
-   * Sets the Y axis acceleration.
-   *
-   * @param accelMetersPerSecond The acceleration.
-   */
-  public void setAccelY(double accelMetersPerSecond) {
-    m_simAccelY.set(accelMetersPerSecond / 9.81);
-  }
-
-  /**
-   * Sets the Z axis acceleration.
-   *
-   * @param accelMetersPerSecond The acceleration.
-   */
-  public void setAccelZ(double accelMetersPerSecond) {
-    m_simAccelZ.set(accelMetersPerSecond / 9.81);
+  public void setAccelZ(double accelMetersPerSecondSquared) {
+    m_simAccelZ.set(accelMetersPerSecondSquared);
   }
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADIS16470_IMUSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADIS16470_IMUSim.java
index 1834ff86e4..53da546259 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADIS16470_IMUSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADIS16470_IMUSim.java
@@ -13,9 +13,6 @@ public class ADIS16470_IMUSim {
   private final SimDouble m_simGyroAngleX;
   private final SimDouble m_simGyroAngleY;
   private final SimDouble m_simGyroAngleZ;
-  private final SimDouble m_simGyroRateX;
-  private final SimDouble m_simGyroRateY;
-  private final SimDouble m_simGyroRateZ;
   private final SimDouble m_simAccelX;
   private final SimDouble m_simAccelY;
   private final SimDouble m_simAccelZ;
@@ -30,16 +27,13 @@ public class ADIS16470_IMUSim {
     m_simGyroAngleX = wrappedSimDevice.getDouble("gyro_angle_x");
     m_simGyroAngleY = wrappedSimDevice.getDouble("gyro_angle_y");
     m_simGyroAngleZ = wrappedSimDevice.getDouble("gyro_angle_z");
-    m_simGyroRateX = wrappedSimDevice.getDouble("gyro_rate_x");
-    m_simGyroRateY = wrappedSimDevice.getDouble("gyro_rate_y");
-    m_simGyroRateZ = wrappedSimDevice.getDouble("gyro_rate_z");
     m_simAccelX = wrappedSimDevice.getDouble("accel_x");
     m_simAccelY = wrappedSimDevice.getDouble("accel_y");
     m_simAccelZ = wrappedSimDevice.getDouble("accel_z");
   }
 
   /**
-   * Sets the X axis angle (CCW positive).
+   * Sets the X axis angle in degrees (CCW positive).
    *
    * @param angleDegrees The angle.
    */
@@ -48,7 +42,7 @@ public class ADIS16470_IMUSim {
   }
 
   /**
-   * Sets the Y axis angle (CCW positive).
+   * Sets the Y axis angle in degrees (CCW positive).
    *
    * @param angleDegrees The angle.
    */
@@ -57,7 +51,7 @@ public class ADIS16470_IMUSim {
   }
 
   /**
-   * Sets the Z axis angle (CCW positive).
+   * Sets the Z axis angle in degrees (CCW positive).
    *
    * @param angleDegrees The angle.
    */
@@ -66,56 +60,29 @@ public class ADIS16470_IMUSim {
   }
 
   /**
-   * Sets the X axis angular rate (CCW positive).
+   * Sets the X axis acceleration in meters per second squared.
    *
-   * @param rateDegreesPerSecond The angular rate.
+   * @param accelMetersPerSecondSquared The acceleration.
    */
-  public void setGyroRateX(double rateDegreesPerSecond) {
-    m_simGyroRateX.set(rateDegreesPerSecond);
+  public void setAccelX(double accelMetersPerSecondSquared) {
+    m_simAccelX.set(accelMetersPerSecondSquared);
   }
 
   /**
-   * Sets the Y axis angular rate (CCW positive).
+   * Sets the Y axis acceleration in meters per second squared.
    *
-   * @param rateDegreesPerSecond The angular rate.
+   * @param accelMetersPerSecondSquared The acceleration.
    */
-  public void setGyroRateY(double rateDegreesPerSecond) {
-    m_simGyroRateY.set(rateDegreesPerSecond);
+  public void setAccelY(double accelMetersPerSecondSquared) {
+    m_simAccelY.set(accelMetersPerSecondSquared);
   }
 
   /**
-   * Sets the Z axis angular rate (CCW positive).
+   * Sets the Z axis acceleration in meters per second squared.
    *
-   * @param rateDegreesPerSecond The angular rate.
+   * @param accelMetersPerSecondSquared The acceleration.
    */
-  public void setGyroRateZ(double rateDegreesPerSecond) {
-    m_simGyroRateZ.set(rateDegreesPerSecond);
-  }
-
-  /**
-   * Sets the X axis acceleration.
-   *
-   * @param accelMetersPerSecond The acceleration.
-   */
-  public void setAccelX(double accelMetersPerSecond) {
-    m_simAccelX.set(accelMetersPerSecond / 9.81);
-  }
-
-  /**
-   * Sets the Y axis acceleration.
-   *
-   * @param accelMetersPerSecond The acceleration.
-   */
-  public void setAccelY(double accelMetersPerSecond) {
-    m_simAccelY.set(accelMetersPerSecond / 9.81);
-  }
-
-  /**
-   * Sets the Z axis acceleration.
-   *
-   * @param accelMetersPerSecond The acceleration.
-   */
-  public void setAccelZ(double accelMetersPerSecond) {
-    m_simAccelZ.set(accelMetersPerSecond / 9.81);
+  public void setAccelZ(double accelMetersPerSecondSquared) {
+    m_simAccelZ.set(accelMetersPerSecondSquared);
   }
 }