That really depends on what you consider cheap. Embroidery software will tend to run from $200 to $10,000, and you also tend to get what you pay for. Auto-digitizing software tends to be fairly easy to learn, but the results also show it (I rarely have seen an auto-punched design that I would be happy with, and those that I did like had been extensively edited after digitizing). Auto-punched (that is the same thing as auto-digitized, by the way) designs tend to have a lot of jump stitches and don't sew out in a very logical fashion. Another downside is that the software works best when you are working with vector graphics, as opposed to rastor graphics (which are more common: .jpg, .bmp, .gif are all rastor type). If you must use a rastor graphic, you need to make sure it is a very clean design, with no extra smudges or unfinished lines. If you are really serious about learning to digitize, let me know and I can point you in a good direction.