The Dalf Motor Control Board was designed as a companion to a pair ofOSMC Motor Drivers to control a pair of brushed PM DC motors, however it is usable with other motor drivers that use signed magnitude PWM controls. It also makes a wonderful development board for other applications because of the abundant IO and the use of standard software tools. The built-in firmware provides several different open and closed loop motor control methods. For closed loop applications it uses standard quadrature feedback from incremental encoders. Optionally, for suitable applications, analog position feedback may replace the optical encoders. Based on the PIC18F6722 running at 40MHz (10 MIPS), the hardware and firmware provide multiple user interfaces including: 3 channel RC with either tank or mixed modes, analog controls (center off or full range) using off board potentiometers, and serial command interfaces using the serial RS232 and I2C Busses. Closed loop PID using a Trapezoidal Generator is provided for both positional, and velocity controls. Adjustable slew rate is one of many features supported using non volatile storage for motor parameters. Voltage windows implemented using comparator circuitry and digitally adjustable pots provide very fast current limiting response when used with off board current sensors. Features are easily extensible using standard Microchip software tools, the supplied files (main.c + dalf.lib), and the 6-pin modular connector which is suitable for direct plug from the Microchip ICD2 Product. A Boot loader supports firmware upgrades over the serial link. Lots of unused I/O with signals accessible from the screw terminals and ribbon connectors. Ample headroom for additional code development in both FLASH and RAM memory. The +5V power supply supports a robust BEC for off board usage. Two I2C busses and two RS232 ports are routed to connectors. Detailed documentation including a voluminous Owner's Manual describing all features, and a somewhat less imposing, Getting Started Manual, are available for download.