I used my wireless router as the AP. I have a USB wifi module connected to my Pi. The Pi and my laptop both connect to my wireless router.
I installed Apache so that I can serve web pages and scripts from my Pi (see http://raspberrywebserver.com/cgiscripting
for simple examples of web scripting). On my laptop, I just have to open a browser and go to http://192.168.0.4/index.html
I don't know much about the motor controller that you're using, but if you can write a script that controls it from a command line, then you can probably get it to work in a web script. If your phone has a browser, you should be able to use your phone instead of a laptop.