Brain Inertial without the Drivetrain Settings in the code (C++)

Has anybody been able to use Brain Inertial in their C++ code while controlling their drivetrain motors separately instead of using the default drivetrain function?

(I want to add Brain Inertial to my code while doing the following):

Gen 1 or Gen 2 brain? If Gen 1, add the gyro separately. If Gen 2, it should already all be accessible in the ‘Sensing’ section.

You should be able to use


to be able to read the inertial sensor in c++. The kb article can be found here.