With Geany you can edit the code on your PC, load and save it over ethernet 
to the BBB. Then compile and test (and GDB for the ARM code) on the BBB via 
SSH.

The kernel 4.x limitation is that the run-time pinmuxing does not work 
(since the paths in the sysfs changed). You can set the pins before you 
start any application (ie. example stepper), but it's additional effort.

BR

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