A continuous servo is a good choice for a novice, as they can be interfaced directly to the Pi with no need for H-bridges (they have that internal). Control them with any servo library eg Joan's
http://abyz.co.uk/rpi/pigpio/python.html
It's helpful to understand the differences between a standard servo & a continuous one:
A pulse width of 1500us rotates a standard servo to its centre position, but tells the continuous servo to stop rotating.
At 500us the standard will turn to its max travel in one direction, then stop. Continuous will continue to rotate at max speed in one direction.
At 2500us the standard will turn max travel in the other direction, then stop. Continuous rotates opposite direction at max speed.
With that knowledge you should be able to adapt any code you find for standard servos & adapt to your needs.