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well for beginners it is reccomend that u get a development board like the adruino or basic stamp because code debugging and implementation is easy but if you are going for a normal microcontroller i suggest you try the $50 robot mcu coz it will accurately suit your requirements and you can be able to program it with C language
Man, what's your exp in electronics???ATMEGA128 is difficult even to touch... almost the most advanced of the series (including it's bigger versions in memory etc...)I suggest either an ATMEGA8 or an ATMEGA8535 (or 16 or 32 or...) anything in DIP...And why not an ATMEGA168 which is more expensive than ATMEGA8 has the same structure externally but is more advanced plus easy...It's your choice... but I do not suggest PIC... they have some nice features but are hell difficult to learn for a beginner... period!!!Hope I helped...Lefteris...