Hi,
I already made use of this type of motor, I used PIC microcontroller and H bridge made with transistors MOSFETs.
I also used gears from the glass machine of a car.
Along with that I used a potentiometer. So the system looked like a servo motor.
Using Relays for this type of motor can cause low life for the relay contacts.
Also note that there is a thermal protector inside this motor. if shaft locking occurs, or excessive heating, the motor will stop responding for a while.