How about looking at the Arduino controller board and motor control board (low cost), you can do Steeper Motor and DC motor control, all control software libraries available for free. Manysizes/flavours of Arduino controllers and add on boards/shields depending on what you want for price/features

Controller: http://www.makershed.com/ProductDetails.asp?ProductCode=MKSP4

Motor Control: http://www.makershed.com/ProductDetails.asp?ProductCode=MKAD7

All Arduino Hardware Stuff::

http://www.makershed.com/SearchResults.asp?Cat=43

Stepper software library:

http://arduino.cc/en/Reference/Stepper?from=Tutorial.Stepper

RC Servo motor library:

http://www.arduino.cc/en/Reference/Servo

This should get you started.

Brock