Controller code for the Phoenix: https://github.com/rwaldron/johnny-five/blob/master/docs/phoenix.md
I am interfacing with the PCA9685 using the i2c node module (i2c) and a Custom servo class I wrote.
Misc GPIO is done via the onoff node module
The wiimote code is reading the button presses from /dev/input and using some ioctl code (all node.js)
I still don't have my IK engine up and running yet, but I might take a look at that code you linked to.
I would like to post my code to github at some point, it is not quite mature enough yet.