Comment by bubaumba
I played with it years ago, but it's still alive and well
http://linuxcnc.org/
These days not sure, hard to find computer with parallel port. Combined version with microcontroller like raspberry pico (which costs < $10) should be the right way to do it. Hard real time, WiFi remote for cheap. Then computer doesn't need to be fat or realtime, almost anything, including smartphone.
That and Linux-capable ARM System-on-Modules that also have a built-in microcontroller core to run real-time control separately are very popular these days.