AVR's and DC Motors\Servos
Check out...

https://acidbourbon.wordpress.com/2015/02/01/semi-automated-drill-press-table-for-pcb-manufacture/



He used an ATMEGA AVR to control motors connected an X/Y table for positing PCB boards under a drill press. I think very similar to what you are trying to do. His motor circuits and software should give you a great start on your projects.