So I'm going to say I'm at about 25W light bulb eureka moment instead of a full fledge 1,000,000W thermal nuclear powered light bulb eureka moment.  After looking around the innerweb and attempt to kill myself by drinking too much soda, I think I finally got the math behind the self-balancing skateboard.  I'll post about the math behind it after I get it to balance since I don't want to act like a smart ass if I'm dead wrong.

Other notes, I should pick up the frame this weekend from my parent's house since my dad still had one last thing to do this weekend.  That means I can mount the batteries and motors, finish up the wiring, and still have time to possibly kill myself in front of my mom.