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I've been playing around at work with FPGA to do some experiements with LEDS and PWM. I learned a lot, but have so much more to learn about configuring hardware and instantiating hardware in the FPGA and then writing the low-level software. Aside from the steep learning curve, and the fact that FPGA does not have ADC ports built-in (meaning you have to buy external ADC chip), why more people don't use them in there robotics applications. I checked cost and found a few development kits as low as $199..So doesn't seem that expensive and you can get a pretty nice NIOS altera FPGA with Cyclone 3 as well.
One reason people don't use them is they are more complicated... Require some knowledge of the internal circuitry.
by the way folks, anyone has a good tutorial on FPGAs, let share