> (paired with a microcontroller for the hard-realtime control loop) In theory, the Beaglebone SBCs are excellent for this. The Beaglebone Black (2014 era des

> (paired with a microcontroller for the hard-realtime control loop) In theory, the Beaglebone SBCs are excellent for this. The Beaglebone Black (2014 era design, but still works) has Hard-Realtime PRUs for those kinds of loops. More recent Beaglebone AI (2018ish) has a Cortex-A + 2xArm Cortex-M4, so two embedded microcontrollers for you to use onboard. The most recent Beaglebone AI 64 has a Cortex-A main-core + Cortex-R cores for guaranteed realtime operations. Oh yeah, and those PRUs never went away either.