Is this something a Newbie can accomplish
It depends on how much other experience you have and how fast you learn.
Also it can be a fairly simple linear translation or get quite complex.
Break the code tasks into steps and solve each step before combining them.
First step is to write code that outputs the proper pulses to the 'servos'. Connect a pot to an ADC input the control the 'servo' position. Do use an O'scope before connecting a real servo or your speed controllers to ensure the output pulse in correct.
Next step is code to measure the pulse width of the RC Receiver outputs. Then send the measure pulse width out.
Next, use the pot on the ADC to modify the measured input pulse width.
Separately, read the accelerometer and learn what the values represent and work on how the 'servo' output should change.
Lastly, combine all code.
An O'scope will be almost essential for checking that the output pulses are correct. Another very useful debugging aid is to have Serial output from the Axon. This way you can output reading, measured values and intermittent calculations to your PC for checking.
Measuring the RC receiver pulse and outputting a new pulse has been done so there are some write-ups and code examples on the web. If the code examples are in C then read them even if it is written for a different processor like a PIC.
Good luck and have fun.