I have posted about giving animals human food before, and let me tell you, it is not good for your animals. If you are going to cook for them, you need to make sure that what you are cooking is safe for their digestive tracts and that it is properly cooked, and clear of all bones, seeds, and other potentially hazardous materials that could cause issues.
It does not matter that people have been giving their animals human food for centuries, that just means they have been irresponsible with their pets' health for centuries. There is a reason why they invented food for pets.
Now, not that I'm saying you can't cook for your pets. That is absolutely not what I'm saying. All I'm saying is you need to do your research and make sure you are not putting your animal at risk. There are some foods that are safe for animals if prepared and cooked properly. Here is a link to foods that are bad for dogs, but also ones that can be given safely: http://pets.webmd.com/dogs/ss/slideshow-...-never-eat
I encourage you to do what is best for your financial situation, but I also implore you to do ample research to make sure your are protecting your pet. It is your responsibility to keep them healthy and happy. It's easy to find answers online, or in books, or you can even ask your local vet. Plus, if you're ever in doubt, don't do it. Better safe than sorry! Good luck!