I've been meaning to post a pic of this for a while, something I developed as part of my research. Propeller, eeprom, two h-bridges and buck-boost converter (to run from lipoly 3-4.2v in 3.3v out) and the somewhat more application specific magnetic encoder on homemade flex PCB.
Double sided PCB with wire for vias but components on the top only. Soldering the dual mosfets was a real pain but got there in the end. I think they are rated for something like 7A with suitable PCB but I will run sub 1amp.