here is a wiper motor relay setup from blue point.
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LoginHere is a thread for directional and stopping at set points using a cam, points and MR16.
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LoginHere is a Servo controller from Pololu, Using the Bobcat servo controller plug this board
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Logininto it then drive your brushed DC motor up to 4 amps OR plug these boards (high current H bridge)
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Login into the Pololu servo control board.
The trick to this is servo have a feed back pot for position.
So what you want to control that's were you need to put the pot.
Most Pot for servo are 5 K Ohms and have about 270 degrees of rotation. Now you need a gear reduction box for pot If you want more than 270 deg of rotation out of your motor.
Now the thing I don't like about Pololu stuff is $$$$, To much for me for what it is.