new guy needs help on selecting a board for measurement

Hi All,
 
I am working on a mobile robot project and need to have the following function:
1. AD: 12 bits, two channels or more, single ended
2. Quadratures inputs: two channels or more, single ended
3. PWM output: one channel or more  
The PWM output can be replaced by DA if PWM is not avaliable.
 
I want to use PC104 formfactor for it's small size if possible, running Linux and possibly RTLinux or RTAI.
 
Any suggestion on the board or boards for these functions? I looked at quanser MultiQ3. It seems to have all the functions. But the card is extremely expensive ~$2700 USD and I am not sure all functions are supported under comedi.
 
Thanks a lot.
 
Everett