diff --git a/src/main/java/frc/robot/imu/ImuState.java b/src/main/java/frc/robot/imu/ImuState.java
new file mode 100644
index 0000000..e1bc545
--- /dev/null
+++ b/src/main/java/frc/robot/imu/ImuState.java
@@ -0,0 +1,5 @@
+package frc.robot.imu;
+
+public enum ImuState {
+  DEFAULT_STATE;
+}
diff --git a/src/main/java/frc/robot/imu/ImuSubsystem.java b/src/main/java/frc/robot/imu/ImuSubsystem.java
new file mode 100644
index 0000000..699ea6c
--- /dev/null
+++ b/src/main/java/frc/robot/imu/ImuSubsystem.java
@@ -0,0 +1,33 @@
+package frc.robot.imu;
+
+import com.ctre.phoenix6.hardware.Pigeon2;
+
+import dev.doglog.DogLog;
+import edu.wpi.first.math.geometry.Rotation2d;
+import frc.robot.util.scheduling.SubsystemPriority;
+import frc.robot.util.state_machines.StateMachine;
+
+public class ImuSubsystem extends StateMachine<ImuState> {
+  private final Pigeon2 imu;
+  private Rotation2d robotHeading = new Rotation2d();
+
+  public ImuSubsystem(Pigeon2 imu) {
+    super(SubsystemPriority.IMU, ImuState.DEFAULT_STATE);
+    this.imu = imu;
+  }
+
+  @Override
+  protected void collectInputs() {
+    robotHeading =  Rotation2d.fromDegrees(imu.getYaw().getValue());
+  }
+
+  public Rotation2d getRobotHeading() {
+    return robotHeading;
+  }
+
+  @Override
+  public void robotPeriodic() {
+    super.robotPeriodic();
+    DogLog.log("Imu/RobotHeading", robotHeading.getDegrees());
+  }
+}