Beth, If you're in the area, you really should check out Door County. Lots of interesting little towns like Fish Creek, Egg Harbor, etc. Quite beautiful in the spring when the cherry trees are blossoming, but any time of the year is nice. (with the possible exception of winter, but I've never been there in the wintertime. Here's some info...
Door County
Also, speaking of Madison, isn't that where
Crossing to Safety by Wallace Stegner took place? Hell of a book. Might as well read that as you're traveling.