>
> Is there any recommended library for working with BBB PWM, GPIO, etc...
>

I had started building a C++ library a while back:

https://www.ccoderun.ca/sg++/api/namespaceSG_1_1BeagleBone.html

No guarantees.  Once I got enough of it working for my needs, some things 
were intentionally left unfinished.

St├ęphane

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