Hi there,
LOL, we get that a lot… 
So yes timing is one important thing , as alway Interrupt routines need to short as possible and ditch a bunch of print statements too, use the RGB LED to show status.
The FIFO is the single most useful tool on the IMU, Using it properly can yield the Highest speed of acquisition and very responsive feedback models. Check the demo’s on it forsure.
the AWT is another very useful mode, JUST like a phone knows its orientation in 3d space.
The filters are also a BIG part of the heavy lifting though, proper selection for the application is essential to get clean and Highly accurate data.
Read the TWO data sheets on it, look at the registers to get a handle on what you can read and write. The MOST important item however is the configuration registers (get to know those)
it’s NOT rocket science but it can be used for rockets … SO 
HTH
GL 
PJ 