accelerometer/gyro combo question
Accelerometers and Gyroscopes are going to be good, but not perfect. Depending on what your goal of the feedback is, you might want to consider using something like stepper motors. They will give you more of an absolute position of the current rotation of each motor.

If you want to use accelerometers and gyroscopes you should go take a look at this question: How to determine position from gyroscope and accelerometer input?