I did engage into the use of microcontrollers in our hobby long ago. The result of amazing results in shortest time lead to a friend of mine publish a tutorial in a german forum and then I did translate this course into Spanish and publish it in a Spanish forum. We used controllers from Atmel, called ATmega8 for example, which benefits from the availability of a basic compiler, where many instructions already implement code relevant to realize solutions easily. For the approach to make boards specialized for sound for example, there are hundred of ready to use examples in the internet.
I have after may years shifted to the use of an ARM based controller and a board called LPCXpressoxxxx,
here the official NXP site for this product and here the company that produces those boards and sells them for just 20.- Euros plus handling and shipping. I have gone for a German source were the Board delivered to my desk cost 27,80 Euros. The performance of this boards is extremely higher as that of an Pi board, the IDE, that is the name for the software tool to program code, load it into the controller and debug it in the target, that means you can test the code and analyze it in the target application is free.
What I like of the NXP LPCXpresso boards I purchased the lpcxpresso 1769, is that you have the "programmer" included in the lpcxpresso board, that it also offers the ability to single step through your programming code, look at the values of all registers, variables and constants and that the IDE knows all the existing and future lpcxpresso board derivates and self generates all that is required to have the code executed in the controller on the board. The board being so cheap will mean i will use several of those in my model.