For a hobyists approach or to start from scratch, I suggest a Picaxe chip. They are cheap ($ 4), very simple and very easy to program. The simplest of these is an 8-pin IC, using a 5 V DC power supply, programmed using a serial cable and free software, and stores about 40 lines of code. (Yes, very simple, but funny. And they get bigger, that is: 16-pin, 40-pin.)
Picaxe gives you a basic introduction to PIC, but it is a significant step above Lego Mindstorms: P However, it is much slower to execute commands than the standard PIC (about 1 kHz versus 1 MHz, I think), but it will do some things (e.g. serial communication and LCD control) for you.
: http://www.piclist.com/techref/piclist/begin.htm
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https://serverfault.com/questions/22030/recommended-embedded-linux-device-for-light-server-and-learning