Self Balancing Segway Style Scooter for Under 300.00

I've always wanted a Segway from the first day I saw one, but with the over 6000.00 price tag I couldn't afford one. Thankfully the parts required have come down in price dramatically. I managed to build one for under 300.00. 
here is a list of the most important parts.

1x2" square steel on eBay but mine was scrap we got for free.

Sabertooth 2X25 motor controller from http://www.dimensionengineering.com/products/sabertooth2x25

electric mobility scooter motors ours are from the Jazzy electric chair the sell for 100-150.00 on eBay

5DOF IMU we got from eBay for 25.00 http://www.ebay.com/itm/181004141876?ssPageName=STRK:MEWNX:IT&_trksid=p3984.m1439.l2649

Sealed lead acid batteries 12v from eBay or from hardware store 

Thumb Joystick from spark-fun 3.95 https://www.sparkfun.com/products/9032

various switches and 10k potentiometers 5.00 from radio shack

code https://www.instructables.com/files/orig/FLC/KUAL/H6730DTD/FLCKUALH6730DTD.txt from sci chair instructable

schematic https://www.instructables.com/files/orig/F6O/M84D/GYO8A9EU/F6OM84DGYO8A9EU.pdf from sci chair instructable