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ORPP Serial Motioncontroller. Prototype board Final board (Top) Final board (Bottom) With solder mask Basically this thing has a serial port, and a bunch of inputs and outputs: 6 Servo out 6 Digital out 5 Digital in 5 Analog in 2 PWM out 2 Open collector out 2 Leds 2 Radio in Eagle cad schematic Image of schematic Eagle cad board layout Image of PCB The board interfaces to a PC or runs as a standalone device. You can send simple serial commands, outlined here, to control the device. The API is compact and hopefully easy to understand. Documented here Printable PDF Implemented here Here is an image of the board reading all of the I/O at the same time. These programs are examples of API usage: Windows Server Windows Board test WindowsCE Board test Screenshots: OrppCE 1 OrppCE 2 OrppCE 3 Here Microcode for the PIC 16F871 chip.