Heres a link to a motion controller in a PIC. http://www.luberth.com/cstep/PStep.html
That, combined with your servo driver could result in a sweet little $15 package.
i would be very interested to hear more about the servo driver you created. the capacities, etc.
also worth noting, chagrin has written a preliminary perl program that will decode an image and prepare it for printing in 4 colors. we need to research dithering and other aspects of generating an image with pixels though, i think. i am also begining to devlop a virtual device to emulate the hardware so the software guys can see their results without the hardware.. this should be fun.. more to come, including a link to a webpage with the solidworks files, and a way for non SW users to view the thing in 3D, make measurements, see inside assemblies.