Jean P. Nicolle has a nice site devoted to FPGA. Since 1997 he collected a bunch information about FPGA and related projects. One of his newest projects is CNC mill where steppers are controlled by FPGA.
When designing milling system, he encountered speed and acceleration of milling head, so the positioning would be as precise as possible. Stepper motor controller is interfaced to PC via FPGA Saxo board which converts USB-2 to parallel. The complete code will be available from KNJN.com soon.