I used to cold steep all of my stouts and made great beers. Since I've gotten a hold of water and pH more, I mash everything and make great beer this way. The amount you would mash and cold steep is not linear. I would almost double the amount cold steeped than I would to mash. So if you were to choose to mash the dark grains, I'd cut them down a bit.
When I cold steeped, I'd at least go over night with it. I added the "tea" around twenty minutes left in the boil. This process adds a different dimension to calculating water, but it's not difficult to figure out. My mash would end up being thicker than normal. Also, don't forget to calculate for grain absorption in the steeped grains.