parallax stamp and ax2550 segway device

we are trying to use a parallax stamp bs2 to control the ax2550 with 2 motors. basically, as the segway axis leaves 0 degrees, we have data from an accelerometer to tell both motors to turn until segway is back to 0deg. the more the tilt, the more motor power required. we are having difficulty with format of serial data to input on ax2550. can someone offer help/suggesntions or sample coding. I will attach parallax file to get started.

thanks
bernie

code is attached as text file.

bernie