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In this paper a modular embedded system for mechatronics education is presented. Four types of control boards are manufactured and related software is developed at board and PC level. A modular approach is adopted which is composed of units that can also work in a stand-alone manner. PC platform facilitates high-level usage of these cards whereas it is possible to implement custom codes on these boards. To sum up, an affordable, versatile, scalable and transparent system is developed which is specifically tailored for mechatronics applications.