This Raspberry PI daughter board has a great combination of features. It supports Arduino Shields in addition to ADC, real time clock and USB UART interface. There are many other features too. I haven't tested it yet, but the quality of the board is excellent, so I'm sure everything will be fine. I plan to use it for robotics with a motor control shield I already have for my Arduino. The price is great for many features. I'll post an update once I've written some code to try it out.
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