Beaglebone Black

http://beagleboard.org/BLACK

Features

• 7x analog inputs
• 6x hardware pwms (more if bitbanging the PRUs)
• many gpio
• i2c, spi, various digital protocols

Needs

• clean 5V

Leg control unit needs:

• 3x analog inputs for string pots
• 1x analog inputs for the compressive link sensor
• 6x pwm outputs for valves

Leg control unit wants:

• LEDs in parallel with solenoids to monitor activation
• LED indicator light

Engine control unit needs:

• 1x pwm output for throttle
• 1x analog input for hydraulic pressure sensor
• 2x analog inputs for system voltage/current

Engine control unit wants: 2x pwm, 4x analog

• HW e-stop
• 1x analog input for tank temperature
• 1x analog input for post pump temperature
• rpm sensor (analog/digital?)
• 1x analog input for oil pressure (low priority)
• 1x analog for O2 sensor (super low priority)

Beaglebone Black Pinout
The pinout used by the joint controller capes is shown here.
A blank copy of the pinout doc can be found here.