Okay, so now there's something here, so please read this. I haven't posted in awhile, but i did a lot. I completely overhauled the electronics. instead of my custom shield, i bought one of these:

It should work much better, especially with my new buck converter. I ordered the replacement servo, and I just found my battery charger too, so I'll work on the code soon. I will first get one leg down, then the rest will be easy.