Motors for Makers
A Guide to Steppers, Servos, and Other Electrical Machines
Book – 2016
For the hobbyist, Here is a great explanation of stepper motors, DC and AC motors. This is the clearest explanation I have seen of the variety of motor types, and how the electromagnetic forces within them make them work. Also, an intro to controlling motors, using Arduino and Beaglebone controllers. The software development uses Linux and Python.
You are assumed to know the basics of electronics. If you know what inductors and capacitors are, and maybe Ohms law, then you will understand this book. You probably should also know the basics of Linux.