Jeff Williams' book takes a detailed look at the circuit elements used in numerical control devices: integrated circuits, stepper motor controllers and motors themselves, bridge drivers and other elements. The technology for manufacturing printed circuit boards at home is described. Various stepper motor control schemes are presented, on the basis of which the design of a home-made universal machine tool with numerical control for use in a home workshop and the corresponding software are proposed. Descriptions are accompanied by a large number of photographs corresponding to the stage-by-stage production of the machine.