[rich2202]

The math is trivial with the assumption that the robot never turns.

As soon as the robot turns, or goes up/down over the scoring zone, the math gets complex really quickly.

Then, you have to map the xyz space of the roboRio to your xyz space (you don't want to assume that the accelerometer in the roboRio is exactly flat to the base of the roboRio, and that the roboRio is mounted in a plane parallel to the floor.