Since you want to setup your own server to run Bitcoin Full Node, the Bitcoin Core library will be most useful. It is able to communicate independently with the blockchain and is also the official client of Bitcoin, which can perform commands and configuration. First you need to download Bitcoin Core. After setting up Bitcoin Core, you need to use RPC (Remote Procedure Call) of Bitcoin Core which can give commands and replies. You can configure your node via the bitcoin.conf file. It has to set RPC credentials and other options. Finally JSON-RPC should be used to send various commands.