diff --git a/beaglebone-blue/accessories.rst b/beaglebone-blue/accessories.rst
new file mode 100644
index 0000000000000000000000000000000000000000..9bb37a611e264b44775d3748197361d05dda1713
--- /dev/null
+++ b/beaglebone-blue/accessories.rst
@@ -0,0 +1,277 @@
+.. _beaglebone-blue-accessories:
+
+Accessories
+###############
+
+.. _chassis_and_kits:
+
+Chassis and kits
+====================
+
+- `EduMIP <https://www.renaissancerobotics.com/edumip.html>`__
+- `Pololu Romi Chassis with geared
+ motors <https://www.pololu.com/category/202/romi-chassis-and-accessories>`__
+
+ - `Wheel encoders <https://www.pololu.com/product/3542>`__
+ - `Chassis - Black <https://www.pololu.com/product/3500>`__
+
+- `Sprout Runt Rover <https://www.servocity.com/sprout>`__
+
+Cases
+======
+
+.. _cable_assemblies_and_sub_assemblies:
+
+Cable assemblies and sub-assemblies
+========================================
+
+Beware; purchased pre-made connector assembly wire colors may not
+reflect true pin designations. These assemblies are readily available
+from `Digi-Key <https://www.digikey.com>`__,
+`SparkFun <https://sparkfun.com>`__, `Hobby
+King <https://hobbyking.com>`__, `Pololu <https://www.pololu.com>`__ and
+`Cables and Connectors <http://cablesandconnectors.com>`__.
+
+.. _jst_connector_bundle:
+
+JST Connector Bundle
+--------------------
+
+.. _renaissance_robotics_jst_jumper_bundle:
+
+Renaissance Robotics JST Jumper Bundle
+********************************************
+
+| Four of the 2-pin JST ZH (1.5mm pitch) connectors, with 150mm 28AWG
+ wires, for motors,
+| Eight of the 4-pin JST SH (1mm pitch) connectors, with 150mm 28AWG
+ wires, for encoders, UART, I2C, CAN, PWR, and
+| Four of the 6-pin JST SH (1mm pitch) connectors, with 150mm 28AWG
+ wires, for SPI, GPS, GPIO, ADC.
+| `Renaissance Robotics JST Jumper
+ Bundle <https://www.renaissancerobotics.com/JST_Jumper_Bundle.html>`__
+
+.. _conrad_beagleboard_kabel_bb_blue_kabelset:
+
+Conrad BeagleBoard Kabel BB-Blue-Kabelset
+***********************************************
+
+| 10x 4-Pin JST-SH
+| 6x 6-Pin JST-SH
+| 4x 2-Pin JST-ZH
+| 1x 3-Pin JST-ZH
+| `BeagleBoard Kabel BB-Blue-Kabelset
+ (Conrad.de) <https://www.conrad.de/de/beagleboard-kabel-bb-blue-kabelset-1606596.html>`__
+
+.. _uart_i2c_can_quadrature_encoders_pwr:
+
+UART, I2C, CAN, Quadrature encoders, PWR
+==========================================
+
+4-wire JST-SH (1mm pitch)
+
+- `4-wire Grove
+ cable <https://www.seeedstudio.com/Grove-Universal-4-Pin-to-Beaglebone-Blue-4-Pin-Female-JST-SH-Convertion-Cable-(10-pcs-pack)-p-3026.html>`__
+ (`Digi-Key <https://www.digikey.com/product-detail/en/seeed-technology-co-ltd/114991495/1597-1622-ND/8558386>`__)
+- `Hobby King SKU
+ 258000190-0 <https://hobbyking.com/en_us/jst-sh-4pin-male-with-pig-tail.html>`__
+- `SparkFun PN 10359 <https://www.sparkfun.com/products/10359>`__
+- `Cables and Connectors 4" ribbon PN
+ #4904 <http://www.cablesandconnectors.com/search/search.php?k=49404>`__
+- `Digi-Key
+ wires <https://www.digikey.com/products/en?keywords=ASSHSSH28K305>`__
+- `Digi-Key
+ housings <https://www.digikey.com/product-detail/en/jst-sales-america-inc/SHR-04V-S-B/455-1379-ND/759868>`__
+
+.. _spi_gpio_adc:
+
+SPI, GPIO, ADC
+===================
+
+6-wire JST-SH (1mm pitch)
+
+- `Hobby King SKU
+ 258000192-0 <https://hobbyking.com/en_us/jst-sh-6pin-male-with-pig-tail.html>`__
+- `SparkFun PN 10361 <https://www.sparkfun.com/products/10361>`__
+- `Cables and Connectors 50cm length PN
+ #49406 <http://www.cablesandconnectors.com/search/search.php?k=49406>`__
+- `Digi-Key
+ wires <https://www.digikey.com/products/en?keywords=ASSHSSH28K305>`__
+- `Digi-Key
+ housings <https://www.digikey.com/product-detail/en/jst-sales-america-inc/SHR-06V-S-B/455-1381-ND/759870>`__
+- `6-wire Grove cable (4
+ populated) <https://www.seeedstudio.com/Grove-Universal-4-Pin-to-Beaglebone-Blue-6-Pin-Female-JST-SH-Convertion-Cable-(10-pcs-pack)-p-3027.html>`__
+ (`Digi-Key <https://www.digikey.com/product-detail/en/seeed-technology-co-ltd/114991496/1597-1623-ND/8558387>`__)
+
+Motors
+=========
+
+2-wire JST-ZH (1.5mm pitch)
+
+- `Digi-Key
+ wires <http://www.digikey.com/product-detail/en/jst-sales-america-inc/ASZHSZH28K152/455-3079-ND/6009455>`__
+- `Digi-Key
+ receptacle <http://www.digikey.com/product-detail/en/jst-sales-america-inc/ZHR-2/455-1366-ND/566476>`__
+
+DSM
+======
+
+3-wire JST-ZH (1.5mm pitch)
+
+- `Pololu PN# 2411 <https://www.pololu.com/product/2411>`__
+
+microUSB
+---------
+
+standard
+
+Batteries
+-----------
+
+2S1P LiPo with 3-wire JST-XH (2.5mm pitch) charge connection
+
+- `Hobby King 1000mAh 2S 20C
+ LiPo <https://hobbyking.com/en_us/turnigy-1000mah-2s-20c-lipo-pack.html>`__
+- `Hobby King 1600mAh 2S 20C
+ LiPo <https://hobbyking.com/en_us/turnigy-1600mah-2s-20c-losi-mini-sct-pack-part-losb1212.html>`__
+
+.. _power_supplies:
+
+Power supplies
+==================
+
+12V with 5.5mm/2.1mm center positive
+
+- Jameco:
+ `supply <http://www.jameco.com/z/TR9CE4100LCP-A-Globtek-50W-12V-4-16A-AC-to-DC-Regulated-Switching-Wall-Adapter_2229247.html?CID=GOOG&gclid=CL-2js2-n9ICFQQdaQodMgsLMA>`__
+ and `power
+ cord <http://www.jameco.com/webapp/wcs/stores/servlet/ProductDisplay?search_type=jamecoall&catalogId=10001&freeText=38050&langId=-1&productId=38050&storeId=10001&ddkey=http:StoreCatalogDrillDownView>`__
+- `Hobby King 12V 3A
+ supply <https://hobbyking.com/en_us/12v-3a-interchangeable-plug-adapter.html>`__
+
+.. _motors_1:
+
+Motors
+===========
+
+.. _servo_motors:
+
+Servo motors
+------------------
+
+6V DC
+
+- `Parallax Inc. 900-00005 Standard
+ Servo <http://www.digikey.com/product-detail/en/900-00005/900-00005-ND/361277?WT.mc_id=IQ_7595_G_pla361277&wt.srch=1&wt.medium=cpc&WT.srch=1&gclid=CJz-qdC9n9ICFRO4wAodOjYLuQ>`__
+- `Hobby King SKU
+ HD-1900A <https://hobbyking.com/en_us/power-hd-1900a-servo-1-7kg-0-08sec-9g.html>`__
+- `TowerPro SG92R-7 <http://www.towerpro.com.tw/product/sg92r-7/>`__
+
+.. _dc_motors:
+
+DC motors
+----------
+
+6V, typically geared
+
+- `SparkFun Hobby Gearmotor - 200 RPM
+ (Pair) <https://www.sparkfun.com/products/13302>`__
+- `SparkFun Hobby Motor -
+ Gear <https://www.sparkfun.com/products/11696>`__
+
+.. _radio_remotes:
+
+Radio remotes
+=================
+
+- `Hobby King OrangeRX satellite
+ receiver <https://hobbyking.com/en_us/orangerx-r110x-dsmx-dsm2-compatible-satellite-receiver.html>`__
+- `Spektrum DSM2 Remote
+ Receiver <https://www.spektrumrc.com/Products/Default.aspx?ProdID=SPM9545>`__
+
+GPS
+======
+
+- `Sparkfun GPS Receiver - EM-506 (48
+ Channel) <https://www.sparkfun.com/products/12751>`__
+- `Adafruit Ultimate GPS
+ breakout <https://www.adafruit.com/product/746>`__
+- `Ublox Neo-M8N GPS with
+ Compass <https://hobbyking.com/en_us/ublox-neo-m8n-gps-with-compass.html>`__
+- `SeeedStudio Grove -
+ GPS <https://www.seeedstudio.com/Grove-GPS-p-959.html>`__
+
+.. _replacement_antennas:
+
+Replacement antennas
+======================
+
+- `LSR
+ PIFA <https://www.digikey.com/product-detail/en/laird-wireless-thermal-systems/001-0014/001-0014-ND/4732758>`__
+- LSR Dipole:
+ `antenna <https://www.digikey.com/product-detail/en/laird-wireless-thermal-systems/001-0001/001-0001-ND/2696493>`__
+ and
+ `cable <https://www.digikey.com/product-detail/en/lsr/080-0001/080-0001-ND/2696495>`__
+- `Anaren U.FL 2.4GHz 6MM
+ Antenna <http://www.digikey.com/product-detail/en/anaren/66089-2406/1173-1024-ND/3069146>`__
+- `TI approved
+ antennas <http://www.ti.com/lit/ug/swru437/swru437.pdf>`__
+
+.. _usb_devices:
+
+USB devices
+================
+
+.. _usb_cameras:
+
+USB cameras
+--------------
+
+- `Logitech
+ C270 <https://www.amazon.com/Logitech-Desktop-Widescreen-Calling-Recording/dp/B004FHO5Y6>`__
+- `Logitech
+ C920 <https://www.amazon.com/Logitech-Widescreen-Calling-Recording-Desktop/dp/B006JH8T3S>`__
+
+.. _spi_devices:
+
+SPI devices
+===============
+
+.. _spi_tft_displays:
+
+SPI TFT displays
+------------------
+
+- `Adafruit 2.4" LCD
+ breakout <https://www.adafruit.com/products/2478>`__
+
+.. _i2c_devices:
+
+I2C devices
+==============
+
+- See
+ `One-Liner-Module-Tests#Grove_I2C_modules <One-Liner-Module-Tests#Grove_I2C_modules>`__
+
+.. _uart_devices:
+
+UART devices
+===============
+
+.. _computer_serial_adapters:
+
+Computer serial adapters
+--------------------------
+
+- `Sparkfun FTDI Cable 5V VCC-3.3V
+ I/O <https://www.sparkfun.com/products/9717>`__
+- `Adafruit FTDI Serial TTL-232 USB
+ Cable <https://www.adafruit.com/product/70>`__
+
+.. _bluetooth_devices:
+
+Bluetooth devices
+=====================
+
+- `WowWee Groove Cube
+ Speaker <https://github.com/beagleboard/beaglebone-blue/wiki/One-Liner-Module-Tests#Grove_I2C_modules>`__
diff --git a/beaglebone-blue/code.rst b/beaglebone-blue/code.rst
new file mode 100644
index 0000000000000000000000000000000000000000..662252ebd2a14da94461a8129dd8a0a56bd26712
--- /dev/null
+++ b/beaglebone-blue/code.rst
@@ -0,0 +1,26 @@
+.. _beaglebone-blue-code:
+
+Play with the code
+######################
+
+The board has some code built in to the system that can allow you to try
+out the various options. They all start with rc
+
+.. code:: bash
+
+ rc_balance rc_dsm_passthrough rc_test_encoders
+ rc_battery_monitor rc_kill rc_test_filters
+ rc_benchmark_algebra rc_spi_loopback rc_test_imu
+ rc_bind_dsm rc_startup_routine rc_test_motors
+ rc_blink rc_test_adc rc_test_polynomial
+ rc_calibrate_dsm rc_test_algebra rc_test_servos
+ rc_calibrate_escs rc_test_barometer rc_test_time
+ rc_calibrate_gyro rc_test_buttons rc_test_vector
+ rc_calibrate_mag rc_test_cape rc_uart_loopback
+ rc_check_battery rc_test_dmp rc_version
+ rc_check_model rc_test_drivers
+ rc_cpu_freq rc_test_dsm
+
+Try them out to try out the various functions of the board. The source
+code for these tests and demos is at `Robotics cape installer at
+github <https://github.com/StrawsonDesign/Robotics_Cape_Installer>`__
diff --git a/beaglebone-blue/faq.rst b/beaglebone-blue/faq.rst
new file mode 100644
index 0000000000000000000000000000000000000000..e64684503ce22e2d3accad02da6ca6d2e8e0ada4
--- /dev/null
+++ b/beaglebone-blue/faq.rst
@@ -0,0 +1,208 @@
+.. _beaglebone-blue-faq:
+
+Frequently Asked Questions (FAQs)
+###################################
+
+.. _are_there_any_books_to_help_me_get_started:
+
+Are there any books to help me get started?
+==================================================
+
+The book `BeagleBone Robotic Projects, Second
+Edition <https://github.com/jadonk/BeagleBone-Robotic-Projects-Second-Edition>`__
+specifically covers how to get started building robots with BeagleBone
+Blue.
+
+For more general books on BeagleBone, Linux and other related topics,
+see https://beagleboard.org/books.
+
+.. _what_system_firmware_should_i_use_for_starting_to_explore_my_beaglebone_blue:
+
+What system firmware should I use for starting to explore my BeagleBone Blue?
+===================================================================================
+
+Download the latest 'IoT' image from
+https://beagleboard.org/latest-images. As of this writing, that image is
+https://debian.beagleboard.org/images/bone-debian-9.5-iot-armhf-2018-10-07-4gb.img.xz.
+
+Use http://etcher.io for writing that image to a 4GB or larger microSD
+card.
+
+Power-up your BeagleBone Blue with the newly created microSD card to run
+this firmware image.
+
+.. _what_is_the_name_of_the_access_point_ssid_and_password_default_on_beaglebone_blue:
+
+What is the name of the access point SSID and password default on BeagleBone Blue?
+===================================================================================
+
+| SSID: BeagleBone-XXXX where XXXX is based upon the board's assigned
+ unique hardware address
+| Password: BeagleBone
+
+.. _ive_connected_to_beaglebone_blues_access_point._how_do_i_get_logged_into_the_board:
+
+I've connected to BeagleBone Blue's access point. How do I get logged into the board?
+=======================================================================================
+
+Browse to http://192.168.8.1:3000 to open the Cloud9 IDE and get access
+to the Linux command prompt.
+
+If you've connected via USB instead, the address will be either
+http://192.168.6.2:3000 or http://192.168.7.2:3000, depending on the USB
+networking drivers provided by your operating system.
+
+.. _how_do_i_connect_beaglebone_blue_to_my_own_wifi_network:
+
+How do I connect BeagleBone Blue to my own WiFi network?
+==========================================================
+
+From the bash command prompt in Linux:
+
+.. code:: bash
+
+ sudo -s (become superuser/root)
+
+ connmanctl
+ connmanctl> tether wifi off (not really necessary on latest images)
+ connmanctl> enable wifi (not really necessary)
+ connmanctl> scan wifi
+ connmanctl> services (at this point you should see your network
+ appear along with other stuff, in my case it was "AR Crystal wifi_f45eab2f1ee1_6372797774616c_managed_psk")
+ connmanctl> agent on
+ connmanctl> connect wifi_f45eab2f1ee1_6372797774616c_managed_psk
+ connmanctl> quit
+
+.. _where_can_i_find_examples_and_apis_for_programming_beaglebone_blue:
+
+Where can I find examples and APIs for programming BeagleBone Blue?
+========================================================================
+
+Programming in C: http://www.strawsondesign.com/#!manual-install
+
+Programming in Python: https://github.com/mcdeoliveira/rcpy
+
+Programming in Simulink:
+https://www.mathworks.com/hardware-support/beaglebone-blue.html
+
+.. _my_beaglebone_blue_fails_to_run_successful_tests:
+
+My Beaglebone Blue fails to run successful tests
+======================================================
+
+You've tried to run rc_test_drivers to ensure your board is working for
+DOA warranty tests, but it errors. You should first look to fixing your
+bootloader as described
+http://strawsondesign.com/docs/librobotcontrol/installation.html#installation_s5
+
+.. _im_running_an_image_off_of_a_microsd_card._how_do_i_write_it_to_the_on_board_emmc_flash:
+
+I'm running an image off of a microSD card. How do I write it to the on-board eMMC flash?
+==========================================================================================
+
+Refer to the "Flashing Firmware" page:
+https://github.com/beagleboard/beaglebone-blue/wiki/Flashing-firmware
+
+Meanwhile, as root, run the
+/opt/scripts/tools/eMMC/bbb-eMMC-flasher-eewiki-ext4.sh script which
+will create a copy of the system in your microSD to a new single ext4
+partition on the on-board eMMC.
+
+.. _ive_written_the_latest_image_to_a_usd_card_but_some_features_arent_working._how_do_i_make_it_run_properly:
+
+I’ve written the latest image to a uSD card, but some features aren’t working. How do I make it run properly?
+==============================================================================================================
+
+It is possible you are running an old bootloader off of the eMMC. While
+power is completely off, hold the SD button (near the servo headers)
+while applying power. You can release the button as soon the power LED
+comes on. This will make sure the bootloader is loaded from microSD and
+not eMMC.
+
+Verify the running image using
+`version.sh <https://github.com/RobertCNelson/boot-scripts/blob/master/tools/version.sh>`__
+via:
+
+.. code:: bash
+
+ sudo /opt/scripts/tools/version.sh
+
+The version.sh output will tell you which version of bootloader is on
+the eMMC or microSD. Future versions of version.sh might further inform
+you `if the SD button was properly asserted on
+power-up <https://github.com/RobertCNelson/boot-scripts/issues/93>`__.
+
+One you’ve booted the latest image, you can update the bootloader on the
+eMMC using
+`/opt/scripts/tools/developers/update_bootloader.sh <https://github.com/RobertCNelson/boot-scripts/blob/master/tools/developers/update_bootloader.sh>`__.
+Better yet, read the `above
+FAQ <https://github.com/beagleboard/beaglebone-blue/wiki/Frequently-Asked-Questions-%28FAQ%29#Im_running_an_image_off_of_a_microSD_card_How_do_I_write_it_to_the_onboard_eMMC_flash>`__
+on flashing firmware.
+
+.. _ive_got_my_on_board_emmc_flash_configured_in_a_nice_way._how_do_i_copy_that_to_other_beaglebone_blue_boards:
+
+I've got my on-board eMMC flash configured in a nice way. How do I copy that to other BeagleBone Blue boards?
+=================================================================================================================
+
+As root, run the
+`/opt/scripts/tools/eMMC/beaglebone-black-make-microSD-flasher-from-eMMC.sh <https://github.com/RobertCNelson/boot-scripts/blob/master/tools/eMMC/beaglebone-black-make-microSD-flasher-from-eMMC.sh>`__
+script with a blank 4GB or larger microSD card installed and wait for
+the script to complete execution.
+
+Remove the microSD card.
+
+Boot your other BeagleBone Blue boards off of this newly updated microSD
+card and wait for the flashing process to complete. You'll know it
+successfully started when you see the "larson scanner" running on the
+LEDs. You'll know it successfully completed when it shuts off the board.
+
+Remove the microSD card.
+
+Reboot your newly flashed board.
+
+.. _i_have_some_low_latency_io_tasks._how_do_i_get_started_programming_the_beaglebone_prus:
+
+I have some low-latency I/O tasks. How do I get started programming the BeagleBone PRUs?
+==========================================================================================
+
+There is a "Hello, World" app at
+https://gist.github.com/jadonk/2ecf864e1b3f250bad82c0eae12b7b64 that
+will get you blinking the USRx LEDS.
+
+The `libroboticscape
+software <https://github.com/StrawsonDesign/Robotics_Cape_Installer>`__
+provides examples that are pre-built and included in the BeagleBone Blue
+software images for running the servo/ESC outputs and fourth quadrature
+encoder input. You can use those firmware images as a basis for building
+your own:
+https://github.com/StrawsonDesign/Robotics_Cape_Installer/tree/master/pru_firmware
+
+You can find some more at https://beagleboard.org/pru
+
+.. _are_there_available_mechanical_models:
+
+Are there available mechanical models?
+=============================================
+
+A community contributed model is available at
+https://grabcad.com/library/beaglebone-blue-1
+
+.. _what_is_the_operating_temperature_range:
+
+What is the operating temperature range?
+=============================================
+
+\`0..70\` due to processor, else \`-20..70\`
+
+.. _what_is_the_dc_motor_drive_strength:
+
+What is the DC motor drive strength?
+============================================
+
+This is dictated by the 2 cell LiPo battery input, the `TB6612FNG motor
+drivers <http://www.pololu.com/file/0J86/TB6612FNG.pdf>`__ and the
+`JST-ZH connectors <http://www.jst-mfg.com/product/detail_e.php?series=287>`__
+
+- Voltage: 6V-8.4V (typical)
+- Current: 1A (maximum for connectors) / 1.2A (maximum average from
+ drivers) / 3.2A (peak from drivers) per channel
diff --git a/beaglebone-blue/flashing-firmware.rst b/beaglebone-blue/flashing-firmware.rst
new file mode 100644
index 0000000000000000000000000000000000000000..1d9bd68e0add818711a52bf0f89f9fa43cb11d47
--- /dev/null
+++ b/beaglebone-blue/flashing-firmware.rst
@@ -0,0 +1,106 @@
+.. _beaglebone-blue-flashing-firmware:
+
+Flashing Firmware
+#####################
+
+Overview
+============
+
+Most Beaglebones have a built in 4 GB SD card known as a eMMC (embedded
+MMC). When the boards are made the eMMC is “flashed†with some version
+of the Beaglebone OS that is usually outdated. Therefore, whenever
+receiving the Beaglebone it is recommend that you update the eMMC with
+the last version of the Beaglebone OS or a specific version of it if
+someone tells you otherwise.
+
+Required Items
+==================
+
+1. Micro sd card. 4 GB minimum
+2. Micro sd card reader or a built in sd card reader for your PC
+3. Beaglebone image you want to flash.
+4. `Etcher utility <https://etcher.io/>`__ for your PC’s OS.
+
+Steps Overview
+=================
+
+1. Burn the image you want to flash onto a micro sd card using the
+ Etcher utility.
+2. Boot the Beaglebone like normal and place the micro sd card into the
+ board once booted.
+3. Update the micro sd card image so its in “flashing†mode.
+4. Insert micro sd card, remove power from the Beaglebone, hold sd card
+ select button, power up board
+5. Let the board flash
+
+Windows PCs
+=============
+
+1. Download the `Beaglebone
+ OS <https://beagleboard.org/latest-images>`__ image you want to use.
+2. Use the `Etcher utility <https://etcher.io/>`__ to burn the
+ Beaglebone image you want to use on the micro sd card you plan on
+ using.
+3. Make sure you don’t have the micro sd card plugged into your board.
+4. Boot the board
+5. Connect to the board via serial or ssh so that your on the command
+ prompt.
+6. Plug the micro sd card into the board.
+7. Type dmesg in the terminal window
+8. The last line from the output should say something like (the
+ numbering may differ slightly):
+
+ - ``"[ 2805.442940] mmcblk0: p1"``
+
+9. You want to take the above and combine it together by removing the :
+ and space. For the above example it will change to “mmcblk0p1â€
+10. In the terminal window enter the following commands:
+
+.. code:: bash
+
+ mkdir sd_tmp
+ sudo mount /dev/mmcblk0p1 sd_tmp
+ sudo su
+ echo "cmdline=init=/opt/scripts/tools/eMMC/init-eMMC-flasher-v3.sh" >> sd_tmp/boot/uEnv.txt
+ exit
+ sudo umount sd_tmp
+
+11. Now power off your board
+12. Hold the update button labeled ``SD`` (the one by itself) to boot
+ off the sdcard.
+13. Restart (RST button) or power up (while still pushing SD button).
+
+Flashing can take some minutes. ## Linux/Mac PCs 1. Download the
+`Beaglebone OS <https://beagleboard.org/latest-images>`__ image you want
+to use. 1. Use the `Etcher utility <https://etcher.io/>`__ to burn the
+Beaglebone image you want to use on the micro sd card you plan on using.
+1. On the SD card edit the file ``/boot/uEnv.txt`` in order for the SD
+card contents to be flashed onto the firmware eMMC. (Otherwise the BBBL
+will do no more than boot the SD image.) Uncomment the line containing
+``init-eMMC-flasher-v<number>.sh`` either manually or using these
+commands substituting ``X`` with what your SD card shows in ``/dev/``:
+\* ``sudo mount /dev/emmcblkXp1 /mnt`` \* ``cd /mnt`` \*
+``sed -i 's_#[ ]*\(cmdline=init=/opt/scripts/tools/eMMC/init-eMMC-flasher-v[0-9]\+.*\.sh\)_\1_' boot/uEnv.txt``
+
+1. Eject the sdcard from your computer.
+2. Put it into your BeagleBoneBlue.
+3. If your board was already powered on then power it off
+4. Hold the update button labeled ``SD`` (the one by itself) to boot off
+ the sdcard.
+5. Restart (RST button) or power up (while still pushing SD button).
+
+Flashing can take some minutes.
+
+How to tell if it is flashing?
+-------------------------------
+
+At first a blue heartbeat is shown indicating the image is booted. On
+flash procedure start, the blue user LEDs light up in a “larson scannerâ€
+or “cylon†pattern (back and forth).
+
+When finished, either all blue LEDs are on or the board is already
+switched off.
+
+If the LEDs are on for a long time then it may indicate failure
+e.g. wrong image. Can be verified if boot fails, i.e. board turns off
+again shortly after power up.
diff --git a/beaglebone-blue/index.rst b/beaglebone-blue/index.rst
new file mode 100644
index 0000000000000000000000000000000000000000..879609dc1794e204f82408bb2973e971215fe000
--- /dev/null
+++ b/beaglebone-blue/index.rst
@@ -0,0 +1,34 @@
+.. _beaglebone-blue-home:
+
+BeagleBone Blue
+################
+
+To optimize BeagleBone for education, BeagleBone Blue was created that integrates many components
+for robotics and machine control, including connectors for off-the-shelf robotic components.
+For education, this means you can quickly start talking about topics such as programming and
+control theory, without needing to spend so much time on electronics. The goal is to still be
+very hackable for learning electronics as well, including being fully open hardware.
+
+BeagleBone Blue's legacy is primarily from contributions to BeagleBone Black
+robotics by `UCSD Flow Control and Coordinated Robotics Lab <http://robotics.ucsd.edu/>`_,
+`Strawson Design <http://www.strawsondesign.com/>`_, `Octavo Systems <http://octavosystems.com/>`_,
+`WowWee <http://www.wowwee.com/mip/>`_, `National Instruments LabVIEW <http://www.ni.com/labview/>`_
+and of course the `BeagleBoard.org Foundation <https://beagleboard.org/about>`_.
+
+
+.. toctree::
+ :maxdepth: 1
+
+ pinouts.rst
+ ssh.rst
+ wifi.rst
+ ip-settings.rst
+ flashing-firmware.rst
+ code.rst
+ tests.rst
+ accessories.rst
+ faq.rst
+ rev-c-priorities.rst
+
+
+
diff --git a/beaglebone-blue/ip-settings.rst b/beaglebone-blue/ip-settings.rst
new file mode 100644
index 0000000000000000000000000000000000000000..97b21a41d3b0739b0d1aeae090e723c3f7c42d17
--- /dev/null
+++ b/beaglebone-blue/ip-settings.rst
@@ -0,0 +1,36 @@
+.. _beaglebone-blue-ip-settings
+
+IP settings
+############
+
+You will usually want to have a fixed ip if you are doing robotics, so
+you have a standard ip to connect to. If you are already connected in
+dhcp you can borrow some of the settings from that to use in your new
+configurations.
+
+.. code:: bash
+
+ route
+
+make a note of the default one, (in the example below 192.168.1.1)
+
+.. code:: bash
+
+ cat /etc/resolv.conf
+
+make a note of the nameserver, (in the example below 8.8.8.8)
+
+In my case I wanted 192.168.1.7 to do this,
+
+.. code:: bash
+
+ sudo -s
+ connmanctl config wifi_f45eab2f1ee1_6372797774616c_managed_psk --ipv4 manual 192.168.1.7 255.255.255.0 192.168.1.1 --nameservers 8.8.8.8
+ exit
+
+the –ipv4 says to use ipv4 settings (as opposed to ipv6), the manual
+means we are setting the values. 192.168.1.7 is the ip address we want.
+(use your own of course). 255.255.255.0 is the network mask 192.168.1.1
+is the route to the internet. (You’re might be different, but this is
+common). –nameservers 8.8.8.8 says where to find the ip address for a
+given domain name. the 8.8.8.8 says use’s googles
diff --git a/beaglebone-blue/media/BeagleBone_Blue_pinouts.png b/beaglebone-blue/media/BeagleBone_Blue_pinouts.png
new file mode 100644
index 0000000000000000000000000000000000000000..1449f9f4127d2b33a0f7fdcd7c190628a6fa5e45
Binary files /dev/null and b/beaglebone-blue/media/BeagleBone_Blue_pinouts.png differ
diff --git a/beaglebone-blue/media/pinout.jpg b/beaglebone-blue/media/pinout.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b000d3e666d5edf6250605e14b65059550ddba30
Binary files /dev/null and b/beaglebone-blue/media/pinout.jpg differ
diff --git a/beaglebone-blue/pinouts.rst b/beaglebone-blue/pinouts.rst
new file mode 100644
index 0000000000000000000000000000000000000000..92fc416d45517b8c2f800e206773c8a041ff1088
--- /dev/null
+++ b/beaglebone-blue/pinouts.rst
@@ -0,0 +1,40 @@
+
+.. _beaglebone-blue-pinouts:
+
+BeagleBone Blue Pinouts
+#########################
+
+.. image:: media/BeagleBone_Blue_pinouts.png
+ :align: center
+
+.. image:: media/pinout.jpg
+ :align: center
+
+- Connector pinout
+ `details <https://github.com/beagleboard/beaglebone-blue/blob/master/BeagleBone_Blue_sch.pdf>`__
+ from schematic(s)
+- `Pin
+ Table <https://github.com/beagleboard/beaglebone-blue/blob/master/BeagleBone_Blue_Pin_Table.csv>`__
+ with some Blue : Black corelation.
+
+UT1
+=====
+
+UART (/dev/ttyS1)
+--------------------
+
+.. code:: bash
+
+ config-pin P9.24 uart
+ config-pin P9.26 uart
+
+GPS
+===========
+
+UART (/dev/ttyS2)
+--------------------
+
+.. code:: bash
+
+ config-pin P9.21 uart
+ config-pin P9.22 uart
diff --git a/beaglebone-blue/rev-c-priorities.rst b/beaglebone-blue/rev-c-priorities.rst
new file mode 100644
index 0000000000000000000000000000000000000000..e7f50eb23ee4de7da20c5024fb8a1a5e8a9defa6
--- /dev/null
+++ b/beaglebone-blue/rev-c-priorities.rst
@@ -0,0 +1,144 @@
+.. _beaglebone-blue-rev-c-updates:
+
+Rev-C updates:
+##############
+
+Priorities
+===========
+
+- Update to dual-A53 processor
+- Protect serial ports, QEP and others that could drive inputs while
+ power is off (at least 5V tolerance)
+- Switch USB type-microB to USB type-C
+- Add 5Gbps (SS) to USB type-C
+- Add mux to support USB type-C host mode (cable flip support)
+- Perform PD on USB type-C to enable charging when 20V is available,
+ drop barrel jack
+- `Move MPU9250 to
+ SPI <https://github.com/beagleboard/beaglebone-blue/issues/43>`__
+- Swap out motor connectors
+- Move up to 3S LiPo battery and 12V motors
+- Add support for quad 3-phase motors
+- Add BeagleConnect-compatible subG wireless
+- Add +/- 12V support on ADC
+- Add Pi-compatible CSI connector for camera
+- Add 5GHz WiFi
+- Add PCIe as alt-mode to USB type-C
+- Add RS-485
+- Switch to push-pull microSD card cage
+- Use gold plated pins
+- Power motors when running on USB type-C
+- TODO: Consider 28V 3-phase motors
+- Switch some connectors to Click Shuttle ribbon header
+- Support I3C
+- Support FD-CAN
+- ~Switch to Atheros9K for WiFi~ Consider going with WiLink8 discrete
+ and 5GHz
+- On-board audio codec
+
+Wishlist
+===========
+
+- PoE expansion
+- MIDI expansion
+- Multi-channel audio expansion
+
+Features suitable to remove
+==============================
+
+- Bluetooth (not commonly used, whereas BLE and SubG can be more
+ useful)
+- 2.4GHz WiFi (too much interference)
+
+Example motors to drive
+=======================
+
+Brushed DC
+----------
+
+- `DFRobot
+ FIT0441 <https://www.digikey.com/product-detail/en/dfrobot/FIT0441/1738-1157-ND/6588579?utm_adgroup=Motors%20-%20AC,%20DC&utm_source=google&utm_medium=cpc&utm_campaign=Shopping_Product_Motors,%20Solenoids,%20Driver%20Boards/Modules&utm_term=&utm_content=Motors%20-%20AC,%20DC&gclid=CjwKCAjw26H3BRB2EiwAy32zhVs5Yf-JZ6fIOZlI79NlxhSv1wkXs-ZDEyYi8ZD7XIP9H9fyWHnxQxoCAmEQAvD_BwE>`__
+- `Geartisan 12V
+ DC <https://smile.amazon.com/Greartisan-Electric-Reduction-Eccentric-Diameter/dp/B072R5QSRG>`__
+
+3 phase (BLDC, 3 phase stepper, etc.)
+-------------------------------------
+
+- `Moon NEMA 17 3 phase
+ stepper <https://www.moonsindustries.com/series/nema-17-smooth-hybrid-stepper-motors-b020302>`__
+- `Primopal NEMA 17 3 phase
+ stepper <http://www.primopal.com/web/Product4_GoodsID_25.html>`__ [
+ `$6 on
+ Alibaba <https://primopal.en.alibaba.com/product/60637037880-811771415/1_2_degree_3_phase_dc_hybrid_china_bipolar_control_step_valve_flat_nema_17_stepper_motor_for_3d_printer_robot_arm_cnc_kit.html>`__
+ ]
+- `XXD A2212 KV1000
+ BLDC <https://usa.banggood.com/Wholesale-XXD-A2212-KV1000-Brushless-Motor-H363-For-RC-Airplane-Quadcopter-p-57432.html?cur_warehouse=CN>`__
+- `OMC NEMA 23 3 phase
+ stepper <https://www.omc-stepperonline.com/3-phase-stepper-motor/p-series-nema-23-1-2deg-3-phase-stepper-motor-5-5a-1nm-141-64oz-in.html>`__
+
+Proposed motor drive circuit
+----------------------------
+
+- Driver: https://www.ti.com/product/DRV8316
+- [STRIKEOUT:Reference design: https://www.ti.com/tool/TIDA-01516]
+- [STRIKEOUT:Gate driver, shunt amp:
+ https://www.ti.com/product/DRV8323]
+- [STRIKEOUT:FET pairs (1/2 H-bridge):
+ https://www.ti.com/product/CSD87353Q5D]
+- Temperature sensor: https://www.ti.com/product/LM95071
+
+Issues to review
+================
+
+- https://github.com/beagleboard/beaglebone-blue/issues?q=is%3Aissue+is%3Aopen+label%3Afix-in-rev-b
+- https://github.com/beagleboard/beaglebone-blue/issues?q=is%3Aissue+is%3Aopen+label%3Afix-in-rev-c
+
+Integrate feedback from
+=======================
+
+- TAMU - https://mxet.github.io/SCUTTLE/ -
+ https://docs.google.com/document/d/1LxO_4hpFQ1i4Vw9NmBai6ByAXrzt0i4g4wozqWoz0x4/edit?usp=sharing
+- GT - https://fis.gatech.edu/multisensor-kit-mechanical-assembly/
+
+GT
+--
+
+Blue GT feedback
+
+- 24V DC input option in cabinets
+- 24V/12V/5V DC output helpful for sensors
+- 4-20mA loop (definitely!)
+- ADC (big bottleneck) (brings to NI DAQ level)
+- -12V to 12V
+- Current measurement (currently rectifying)
+ - 12/14-bit is good enough as is SAR max
+ - 7/8 channels is good enough
+ - Flexible software configuration ideal
+ - How much tolerance? (not seen as much more than 12V)
+- Enclosure is important
+- Look at Automation Direct Productivity Open
+- Look at ncd.io
+ - Nice to have a block without doing extra jump
+ - Wired version would be more determinisitc
+ - OPC-UA, etc. when is time 0?
+- 5GHz WiFi
+ - Better stock WiFi antennas
+ - Pi has better?
+ - USB dongle did better
+ - Better WiFi config
+- Better PRU support
+ - High-school/undergrad-level
+ - Example code and interpreters
+- Better support on image management
+ - eMMC to microSD
+ - Need to advertise it!
+- Better community on-boarding
+- Build on PRU and ADC advantages over Pi
+
+IoT workshop in November
+
+Review the GT cape
+
+Linear position sensor cape just done
+
+Thoughts on ribbon cables?
diff --git a/beaglebone-blue/ssh.rst b/beaglebone-blue/ssh.rst
new file mode 100644
index 0000000000000000000000000000000000000000..42e5ea7dab589e042ead904cebc89b115180368d
--- /dev/null
+++ b/beaglebone-blue/ssh.rst
@@ -0,0 +1,27 @@
+.. _beaglebone-blue-passowrd:
+
+SSH
+####
+
+If you don’t have ssh installed, install it. (google is your friend)
+Then `ssh debian@192.168.7.2` The board will tell you what the password
+is, on my it was `temppwd`.
+
+To change your password use the command passwd it will ask you what your
+current password is, then ask for the replacement. Then it will say it
+was too simple and you have to do it again. Normal stuff.
+
+If you want to insist on using your simple password, try this.
+
+.. code:: bash
+
+ sudo -s
+ (become superuser/root)
+ enter your password
+ passwd debian
+ (put your simple password in)
+ exit
+ (exit from superuser/root)
+
+When you are running as root, passwd is more compliant and will accept
+simple password
diff --git a/beaglebone-blue/tests.rst b/beaglebone-blue/tests.rst
new file mode 100644
index 0000000000000000000000000000000000000000..6b89d828948efe2b300654e39a192ef340070730
--- /dev/null
+++ b/beaglebone-blue/tests.rst
@@ -0,0 +1,104 @@
+.. _beaglebone-blue-one-liner-tests:
+
+BeagleBone Blue tests
+#######################
+
+ADC
+=====
+
+- `Grove Rotary Angle
+ Sensor <http://wiki.seeed.cc/Grove-Rotary_Angle_Sensor/>`__
+ See output on adc_1
+ `source <https://github.com/StrawsonDesign/Robotics_Cape_Installer/blob/master/examples/rc_test_adc/rc_test_adc.c>`__
+
+.. code:: bash
+
+ rc_test_adc
+
+GP0
+====
+
+- Grove single GPIO output modules like `LED Socket
+ Kit <http://wiki.seeed.cc/Grove-LED_Socket_Kit/>`__
+
+.. code:: bash
+
+ cd /sys/class/gpio;echo 49 >export;cd gpio49;echo out >direction;while sleep 1;do echo 0 >value;sleep 1;echo 1 >value;done
+
+- Grove single GPIO input modules like `IR Distance
+ Interrupter <http://wiki.seeed.cc/Grove-IR_Distance_Interrupter_v1.2/>`__
+ or `Touch Sensor <http://wiki.seeed.cc/Grove-Touch_Sensor/>`__
+
+.. code:: bash
+
+ cd /sys/class/gpio;echo 49 >export;cd gpio49;echo in >direction;watch -n0 cat value
+
+GP1
+=====
+
+- Grove single GPIO output modules like `LED Socket
+ Kit <http://wiki.seeed.cc/Grove-LED_Socket_Kit/>`__
+
+.. code:: bash
+
+ cd /sys/class/gpio;echo 97 >export;cd gpio97;echo out >direction;while sleep 1;do echo 0 >value;sleep 1;echo 1 >value;done
+
+- Grove single GPIO input modules like `IR Distance
+ Interrupter <http://wiki.seeed.cc/Grove-IR_Distance_Interrupter_v1.2/>`__
+ or `Touch Sensor <http://wiki.seeed.cc/Grove-Touch_Sensor/>`__
+
+.. code:: bash
+
+ cd /sys/class/gpio;echo 97 >export;cd gpio97;echo in >direction;watch -n0 cat value
+
+UT1
+=====
+
+- `Grove GPS <http://wiki.seeed.cc/Grove-GPS/>`__
+
+.. code:: bash
+
+ tio /dev/ttyO1 -b 9600
+
+GPS
+====
+
+- `GPS Receiver - EM-506 <https://www.sparkfun.com/products/12751>`__
+
+.. code:: bash
+
+ tio /dev/ttyO2 -b 4800
+
+I2C
+====
+
+.. _grove_i2c_modules:
+
+Grove I2C modules
+---------------------
+
+The Linux kernel source has some `basic IIO SYSFS interface
+documentation <https://www.kernel.org/doc/Documentation/ABI/testing/sysfs-bus-iio>`__
+which might provide a little help for understanding reading these
+entries. The ELC2017 conference also had `an IIO
+presentation <http://elinux.org/images/b/ba/ELC_2017_-_Industrial_IO_and_You-_Nonsense_Hacks%21.pdf>`__.
+
+- `Digital Light Sensor <http://wiki.seeed.cc/Grove-Digital_Light_Sensor/>`__
+
+.. code:: bash
+
+ cd /sys/bus/i2c/devices/i2c-1;echo tsl2561 0x29 >new_device;watch -n0 cat 1-0029/iio\:device0/in_illuminance0_input
+
+- `Temperature & Humidity
+ Sensor <http://wiki.seeed.cc/Grove-TemptureAndHumidity_Sensor-High-Accuracy_AndMini-v1.0/>`__
+
+.. code:: bash
+
+ cd /sys/bus/i2c/devices/i2c-1;echo th02 0x40 >new_device;watch -n0 cat 1-0040/iio\:device0/in_temp_raw
+
+Motors
+========
+
+.. code:: bash
+
+ rc_test_motors
diff --git a/beaglebone-blue/wifi.rst b/beaglebone-blue/wifi.rst
new file mode 100644
index 0000000000000000000000000000000000000000..8744892df6e30e2e0194a02334a6ac034b0a24ae
--- /dev/null
+++ b/beaglebone-blue/wifi.rst
@@ -0,0 +1,35 @@
+.. _beaglebone-blue-wifi:
+
+WiFi Setup
+#############
+
+On my network, I’m set up as ip 192.168.1.*. To turn your wifi on, do the following.
+
+.. code:: bash
+
+ sudo -s
+ (become superuser/root)
+ cd /etc/network/
+ ifconfig
+ (Note the wifi inet address, if it is already set, you are done!)
+ connmanctl
+ tether wifi off
+ enable wifi
+ scan wifi
+ services
+ (at this point you should see your network appear along with other stuff, in my case it was "AR Crystal wifi_f45eab2f1ee1_6372797774616c_managed_psk")
+ nano interfaces
+ (or whatever editor you like)
+ remove the comment # from the wifi lines so it now appears like
+ ##connman: WiFi
+ #
+ connmanctl
+ connmanctl> tether wifi off
+ connmanctl> enable wifi
+ connmanctl> scan wifi
+ connmanctl> services
+ connmanctl> agent on
+ connmanctl> connect wifi_f45eab2f1ee1_6372797774616c_managed_psk
+ connmanctl> quit
+ exit
+ note that you will need to fill in your own network data
diff --git a/index-tex.rst b/index-tex.rst
index f7de0d008c30e48d36262aa70cf21480f303db87..774f7f1714a270ad0767658ab974b6c58e166fa9 100644
--- a/index-tex.rst
+++ b/index-tex.rst
@@ -13,4 +13,5 @@ BeagleBoard Docs
support/index.rst
beaglebone-black/index.rst
beaglebone-ai-64/index.rst
- pocketbeagle/index.rst
\ No newline at end of file
+ pocketbeagle/index.rst
+ beaglebone-blue/index.rst
\ No newline at end of file
diff --git a/index.rst b/index.rst
index 5a79cef60281823d51df5935fb9ee4fb49babf0d..a7b488d467cda07c8ba58f8fed2e0b0cdb8dd486 100644
--- a/index.rst
+++ b/index.rst
@@ -26,7 +26,7 @@ Sections
beaglebone-black/index.rst
beaglebone-ai-64/index.rst
pocketbeagle/index.rst
-
+ beaglebone-blue/index.rst
Indices and tables
############################