Hi,
For (semi) advanced motor control applications you can't beat the 18F2431/4431. It's the only 10/12/16/18 series PIC with a QEI module and it has a wicked ADC with double S/H, 4 sample buffer and "semi automatic" operation. Add to that the PCPWM module. I'd love to see a new K device with those peripherals, faster, more flash and more RAM - that would be so cool.

My latest "real" project (16 in, 16 out MODBUS slave) was with a 18F25K22, a real nice 28pin device with two USARTs, 32k of flash and pretty cheap for what you get.