At Chicago hackerspace Pumping Station: One, Bart Dring runs MachineKit on BeagleBone Black:
MachineKit is a "a turn-key BeagleBone SD Card image, based on Robert C Nelson's omap-image-builder scripts and the LinuxCNC machine control software to allow easy experimentation and to promote the use of LinuxCNC in the 3D printer and maker communities."
Bart has the BBB control stepper motors connected via his DIY version of the BeBoPr cape:
Here is LinuxCNC in action:
My YouTube playlist:
Bart has now developed a PCB which he named Rosseta Bone - a "universal" CNC translator for BeagleBone Black:
Finally, although LinuxCNC has CNC in the name, LinuxCNC can also run 3D printer. The creator of MachineKit demostrates: