This of course depends on what you know already (CS or EE background?), but the easiest way would be to use an arduino. You'd need to have some electronics know

This of course depends on what you know already (CS or EE background?), but the easiest way would be to use an arduino. You'd need to have some electronics knowledge (basic circuitry, servo motors) and be able to do some embedded programming (PWM, ADC/DAC, interrupts/timers)