Do you have any arduino knowledge? The first place to start would be the Blink and Blink without delay examples. Also do you plan to use DC motors or servos?
yes there is a motor controller
I'd like to start with just making the thing turn and go from there
The motor controller needs to be connected to pins on the Arduino to control it. They may already be connected if the motor controller is a shield that plugs into the Arduino or you may need to connect them yourself. Once the control pins are connected and you have connected a motor to the controller you can consider writing a program to turn it on/off, reverse it and control its speed. Then the real fun begins.It would be helpful to know which motor controller you are using.