The BL1500 is only a single motor controller (not dual) so I will be pairing a controller with each motor.
Yes, a motor driver (controller) per motor, but a trajectory and IK controller per leg was what I was thinking.
I’m surprised your not starting with linear actuators, or at least gearhead motors. Might make things a little simpler for all those motors!
Alan KM6VV
I’m planning on hooking each motor controller to a single ssc-32 and then running it with the 2.0 version of FlowbotX’s code. It has some nice configuration settings for custom leg dimensions, leg mounting, etc.
I agree…but when given lemons sometimes the only choice is to make lemonade. I have lots of sprockets and chains laying around, free for the taking, sadly no linear actuators, or gearhead motors. Having said that if someone wants to donate I’m a willing recipient! 
What I’ll probably do is have one mounted to the chassis. If I get out of whack I’ll try to adjust but most importantly I’ll use it as a dead man’s switch to shut all the motors down. Good idea.