I still need to order the parts, but I just sent the PCB order for the second and hopefully last order before I order all the boards for the platform (took long enough). I decided I'm not ready to solidify the design so I'll be ordering more prototyping boards instead of developing a new task-specific board for the leg.
I also bought 2 more of those swell 58 lb. batteries. Damn straight I'm going to put them on my robot, bringing the robot weight in at 232 lbs for batteries alone. Heck, that's almost a battlebot weight!