[Pod] Implement inertial measurements from gyroscope via I2C

[taesungh]

Dynamics would like to validate motion of the pod by measuring angular moments. We have a gyroscope/accelerometer to measure angular velocity and acceleration over I2C.

• Create a Gyroscope abstraction to provide inertial measurements
  • This struct should manage and clean up its own I2c instance from RPPAL
• Provide a method to get the angular velocity of the pod as a tuple or struct for each of the primary axes (pitch, yaw, and roll)
• This data will eventually be sent to the control station, but we can handle that separately

[taesungh]

We can also look into using the mpu6050 crate which appears to support the embedded_hal traits which the RPPAL constructs implement.

[taesungh]

Update: dynamics wants the actual angular displacement of the pod rather than angular velocity. For now, the mpu6050 library will estimate that based on the angle of the acceleration vector, but in practice, we may want to implement numeric integration with Kalman filtering that dynamics is suggesting to get a more correlated measurement.