BitSim NOW has developed an I/O board with several interfaces to solenoids, rotary encoders, linear position transducers and more. The board is controlled by a PC104 bus (ISA), and contains an Altera Cyclon-FPGA with integrated soft NIOS processor. The board  also has a number of PWM-controlled H-bridges, serial interfaces with multiple long-distance nodes and a robust digital I/O with error handling.