Lpc2000

With CAN and motor control you might consider an RTOS.  A good choice for a
high speed RTOS on the LPC2129 is Segger's embOS, free demo is available.
Similar price to uC/OS-II, but royalty free, and includes extras that
Micrium charges extra.  uC/OS-II is licensed per product model.  Then again
if your efforts are academia related there is no charge to use uC/OS-II.
There's also a FreeRTOS Keil and IAR port for the LPC2129.  No cost.

http://www.segger.com/embos_general.html
http://www.micrium.com/products/rtos/kernel/rtos.html
http://www.freertos.org/

If time to market is a concern, IAR and Segger embOS provide a good combo.
You should be up and running in a day.  EmbOS has the most advanced
debugging/profiling features of the three. 



Joel