I was in the same boat as you with several old desktop PC's lying around and so I decided to give LinuxCNC a try. After all it is absolutely free, but also very capable. I use it on a basic 3 axis machine with limits and a probe input. I'm running it through the parallel port on the motherboard and it has worked flawlessly ever since I started using it(2012 or so) The only problem I ever had was a HDD failure that can hardly be blamed on LinuxCNC.