Jeff Williams' book details the circuit elements used in numerical control devices: integrated circuits, stepper motor controllers and the motors themselves, bridge drivers and other elements. Described is a technology for making printed circuit boards at home by thermal transfer of an electrographic image from paper to the surface of foil plastic. Various control schemes for stepper motors are given, on the basis of which the design of a homemade universal machine with numerical control for use in a home workshop and the corresponding software are proposed. The descriptions are accompanied by a large number of photographs corresponding to the phased manufacture of the machine.