Great work, and exellent thread!!
Would it be possible for you to pot more pictures of the bot?
Im keen to see how you have placed the gyro/acc combo..
In your code, output from the accelerometer is in this orientation?
UP
"X" <-----------> "X"
"Y"
^
| FRONT
|
v
"Y"
DOWN
Which pins on the arduino is connected to respectably X and Y ?
Thank you for publishing and documenting your work!
Keep posting pics!