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I cook for my dogs also. Mine have always gotten "people food" added occasionally to their kibble, and have always accepted a wide range of foods. I prepare whatever meat I can get for around a dollar a pound or less. Sometimes that is brisket, most times it's chicken breast, and quite often it is hamburger. I have a very large crockpot that I use to cook the meat. I have a rice cooker that I use to make my 50/50 mix of brown rice and lentils. I really cheat when it comes to the veggies and buy frozen. For some odd reason neither dog really cares much for most fresh fruit, but they both love the canned in juice fruits such as pears and applesauce (no added sugar). Their typical meal includes a serving of meat, a serving of veggies, a serving of fruit, a big spoonful of cottage cheese, a serving of rice/lentils and a fish oil supplement. Since I have been doing this my 13 y/o mutt has quite limping from her arthritis, her coat has improved and she has lost 6 pounds that she really needed to lose! It is so gratifying to see how eagerly they wait for their meals as I dish them up! They are definately happier dogs. An added bonus is they no longer have the foul gas that dog food caused! It does cost me more than dog food does, but it is so worth it!
Regarding cooking your own food for your animals...You need to be sure you have the right ingredients in the fairly correct proportions, and if you're new to this then it's helpful to have some proven guidance. I thought this might be of interest to those who want to get off commercial foods.
Take a look at this woman's animals. She has written several books and has recipes for dogs and cats.