I decided to make the circuitry for it modular, so I can incrementally improve on (or add to) each section without having to completely redesign everything with each upgrade. Toward that end, I've got the main control and (motor) drive boards; I plan to add a sensor board, and then perhaps an 'environment' board. The way I'm going to accomplish all that is to stack the boards one on top of the other, and use one of the built-in capabilities of the microcontroller to let each of the drive/sensor/other boards pretty much do it's own thing with oversight by the main logic by using what is called a 'two-wire interface' (an alternative to the trademarked Inter-IC [or I2C] system developed by Philips).
I've breadboarded the main controller, and verified that it does what I need/want, so I've gone ahead and laid out a printed circuit board for it:
(click to view 'full size')
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If you're into this kind of thing, here's the schematic diagram:
(click to view 'full size')
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