This was my take which I used for 12 months before switching to Linuxcnc
The cape connects directly to the BBB and the 2 other boards connect via a 
short 26 way cable


https://github.com/ozzyrob/pp_cape

<https://raw.githubusercontent.com/ozzyrob/pp_cape/master/pp_cape.jpg>

https://github.com/ozzyrob/pp_bob_input

<https://raw.githubusercontent.com/ozzyrob/pp_bob_input/master/pp_bob_input.jpg>

https://github.com/ozzyrob/pp_bob_output

<https://raw.githubusercontent.com/ozzyrob/pp_bob_output/master/pp_bob_output.jpg>

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