The OpenServo project aims to replace the electronics of hobby servos with an ATmega8 or similar controller, on a tiny 4-layer PCB. This gives flexible I2C command/sense architecture and smooth start/stop transitions. They say they're up to version 3, but there are a number of issues with their web presence, so I don't know what their real status is. I'd like to order a board or two, if they're not too backlogged or inactive.
Anyone play with these things? I was going to order a couple Futaba S3003 servos anyway, to control in the "traditional" way.