Judges contains stories of some of the great heros of the Bible: Samson, Gideon and others.  These colorful heros almost all had significant moral failings, not unlike many of the prominent Christian leaders today.  Sin has significant consequences but God's work is dependent on him, not the human vessel he chooses to use.  The Faith Hall of Fame in Hebrews 11 includes many of these flawed heros commemorating the fact that at some point they trusted God and stepped out in faith.  God can use any of us, regardless of our past, if we will lean on him in faith and step out in obedience to do what he asks us to do.