You pretty much need to use the PRU if you want to do any control algorithms, except the PRU /sucks/ to program. I stay away from BBB because it's _so_ hard to

You pretty much need to use the PRU if you want to do any control algorithms, except the PRU /sucks/ to program. I stay away from BBB because it's _so_ hard to use, at least from me/my team's experience.