Self Balancing Scooter: What is the best way to sense the angle?

Electronics
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OK, I would love to build one of those two wheels self balancing scooters you can buy for a couple hundred dollars. Yes, I know I can buy one, but where is the fun in that? I think this is a very simple project, and all it needs is two motor drivers with a way of measuring the tilt on each foot platform.

Something tells me an accelerometer might not be the way, as if I recall I need to do some math on the output to get the angle. Isn’t there a module which gives the processed angle in an analog signal or an I2C packet I can ping in a continuous basis to change the motor’s PWM duty cycle?

Suggestions?

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You want an electronic gyro, not an accelerometer. Something like this should work.

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