I finally got a board designs done and sent out to oshpark. I spent a bit of time working on the Driver board, which will control the motors, high power LED's, and servo's.

All of the outputs come out of a 25DB connector mounted on the edge of the PCB. This makes it a much easier and central location for attaching to the waterproof connectors.

A few other notable parts:

• 6 pin control connector, with high temp interrupt and I2C
• temp sensor to help with overheating
• Four 2 channel PWM motor controllers
• Two I2C GPIO expanders, one exclusively for controlling the logic of the motor controllers, one with PWM, for motor speed and servo control.
• 2 Mosfets for LED control

The Schematic:

The board: