Mark I Platform

Here is my first pass at a prototyping platform. I've constructed it with two interactive servo motors with tires, an accelerometer (above the right tire from the camera), the NXT, and a LED lamp as a generic indicator (above the left tire from the camera).

A brief description on the accelerometer from the HiTechnic product page.

Now you can make robots that know which way is up! The HiTechnic Accelerometer / Tilt Sensor measures acceleration in three axes. It also measures tilt along each axis. Using the sensor, you can measure the acceleration of your robot build robots in the range –2g to + 2g. Great for experimenting with acceleration forces in cars, on amusement rides, even on swing sets. This sensor will also tell you if your robot is level so you can build self-leveling robots and much more.

Sounds exactly like what I need! The definition of the three axes are pictured. Notice that the accelerometer has been mounted as low on the unit as possible and with the x-axis is positive in the forward direction, and is level with respect to the rest of the unit. This will greatly reduce the amount of error due to structural weaknesses in the platform.