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OK, I'm pretty new to the BBB and my background is in programming not electronics. I would really like to setup the BBB as a robotic arm controller. The arm I'm looking at is the Lynxmotion AL5D 4 Degrees of Freedom Robotic Arm. http://www.robotshop.com/en/lynxmotion-al5d-robot-arm-combo-kit-4-dof.html#Multimedia Is the BBB capable of controlling this 4-axis robot? I would assume I need a cape to do this but can't determine if an existing one would work. Any guidance would be appreciated.