Cool, we were brainstorming at my hackerpace in Chicago (
http://pumpingstationone.org/) last night and we are going to try to get EMC2 working as a group project. We have members that built a Pick and Place gantry and would like to control it with the BBB directly (they had previously been using TinyG connected to a Pi). We were also looking at what HipsterCircuits has done for stepper control with the PRU.
Anyways, just wanted to ping the Beagle community to see if anyone else was similarly interested.