Well got a Mesmic 2125 for Leo, actually at Radio Shack no less. I hooked it up to his MCU and was looking at the output stream. It's going to be interesting trying to integrate the accelerometer output into his code to make drive in a straight line. I'm going to have to make a sampling routine, because he'd act schizophrenic if he acted on each byte of data. Hitting a bump can change his pitch and roll drastically.