PIC's and FPGA's are so totally unrelated that what you're asking is how you can do a head transplant between a mouse and a giraffe.
If you need the flexibility and speed of an FPGA use verilog and get yourself an FPGA module to test it on.
If you can use a PIC, learn to use a pic by itself.
FPGA's (verilog) is NOT a good place for someone starting in robotics to jump into, at the VERY least learn to use PIC's (or AVR's) and then move up to FPGA's once you need their unique flexibility.