We stayed here during our recent Badger Game visit to Madison. We got a Wheelchair Accessible room with a Jacuzzi (Big Baller Here! ;)). They are Dog friendly. Staff was nice. Room and Lobby were clean.
My one problem was that, although the room was technically wheelchair accessible, it would be difficult for me to stay here on a solo trip. The Roll in shower had a portable seat instead of a built in bench and because of the uneven floor, I had to wedge the seat in the back of the shower and Diane had to help me transfer and adjust the water.
When we come back to Madison, we will look for a more wheelchair friendly option.