self balance with parallax parts

well I broke down an bought the parallax gyro L3G4200D and I already had the mx2125 accelerometer

I tried the self balance with a ping sensor (fail) I tried the self balance with only a accelerometer (fail)

now after reading ALOT I got the gyro...(parallax L3G4200D )

any suggested reading? tips? sample code? links?

goals: make a self balance robot that can stay up on its own with radioshack parts! note to self---- radio shack price minus 50% = online price!!!!!

Checkout nBot, he uses gyros and accelerometers, has a lot of links on the page,