A quicker guide for real beginners: Do you want to understand in detail what's happening? => Arduino UNO Is the UNO too small/slow? => Arduino Due Still too small or you really just want a small computer running Linux but with GPIO-Pins? => Raspberry PI
Do you want to understand in detail what's happening? => Arduino UNO I wonder what your definition of "understand in detail what's happening" is if you recommend an Arduino for that. It doesn't have to get as far as https://www.youtube.com/watch?v=UJHeDvr_doM (something that I recommend every should try at least once if they claim to know how things really work) but I think reading the datasheet and using the bare MC…
After you have done all of that it might be a good idea to start soldering the AVR on your own boards.