I still haven’t picked up a BeagleBone Black yet, maybe soon
In my opinion, the Raspberry Pi is better as a general purpose computer and has more maturity and the more active community, simply by virtue of being the more mature product.
The BeagleBone Black, has far superior GPIO capabilities including analog inputs. And, yes, in theory it can do everything a Raspberry Pi can do and more. But the gap between theoretical possibility and reality is in the process of closing as the product matures.