This setup used a single axis gyro sensor. I have since purchased an IMU that contains a 3-axis gryo and 3-axis accelerometer, but I have yet to incorporate this into a design that I successfully document and finish.
(Also, as of this posting, most of my stuff is back in North Carolina, and I'm currently residing in Arizona, so I don't have much ability to work on these projects. Hopefully I can get some stuff shipped out here soon to work on.
It's quite late (5:20am apparently) so I'm sure I've missed some details here and there, so feel free to drop comments and ask questions!