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Originally Posted by Matt Krass
Atmel AVRs are ....
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I agree with the AVR option. I've started using them for the same reason(s). Free C compiler, lots of application notes, software examples (assembly and C) and development hardware is cheep!
You may want to look into the mega AVRs since they have hardware multipliers which may be handy for processing multiple PID loops quickly (not necessary, but nice).