If you find the links below are outdated because of newer, more useful boards, please send advice.

Building with the Relay Cape and BBB from Beagleboard.org...

If you are bored, please look over this link for programming

the BeagleBone Black Wireless and Relay Cape in C/C++ and Python3

with sysfs and libgpiod-dev/gpiod while using make and cmake.

Here is another resource of source for another Cape, daughter card, for the

BeagleBone Black which carries the am335x processor from TI.com. This one is called the Servo Cape.

The add-on is 50cm or roughly 19.75" XY along with a heightened gantry for the Z_axis

I made the machine work at 450mm * 152mm * 400mm with Klipper, a Recore A7, and Mainsail.

Here is a small video of the newer build plate along w/ a final product photo along w/ some building, i.e. glass bed!