[Greg McKaskle]

If your goal is to drive straight, you may find it easier to accomplish using a gyro or wheel encoders.

An accelerometer will give you translational forces, and depending on where the gyro is mounted, you may be able to calculate rotational forces from that. Also, if the robot tilts, gravity's effect will show up on the X and Y axes and appear as a translational force.

So while using the accelerometer may provide some data to improve your robot's ability to drive straight, it may not be the most direct route.

Greg McKaskle