Beaglebone has a key strength over Raspberry Pi and that is the larger number of input and output ports on the board. Beaglebone has 96 ports compared to 40 with the Raspberry Pi. The Beaglebone also features analogue inputs, important for directly connecting analogue sensors whereas Raspberry has digital inputs only. The BeagleBone features impressive Input/Output capabilities: the board has a digital I/O pin with 8 different modes of operation, including GPIO (General Purpose Input/Output): 65 digital I/O; 8 PWMs and 4 clock signals; 7 analogue inputs (1.8V); 4 UART; 2 I2C ports and 2 SPI ports.
This is a companion discussion topic for the original entry at https://mender.io/blog/beaglebone-and-raspberry-pi-a-general-comparison