Looks like that you got a very interesting project there!
Regarding the 150 and EEPROM, the 150 uses a SAMD21 and it does have some FLASH storage. But I am not sure that it will fulfill your actual needs, but you can have a look at my old post here and see it would be useful to you or not.
Another thing the XL330-M077-T is only suitable as a wheel drive because of the internal gear train used. If possible you can try to use the XL-330-M288 as it can deliver better torque.