It has always encouraged me to see Samson listed as one of the heroes of the faith along with Gideon and Barak (Heb. 11:32). Each of these men had severe shortcomings: Gideon led the people into idolatry (Judges 8:22-28); Barak was fearful and was not given the glory for the victory (Judges 4:9); and Samson had a seemingly unquenchable desire for foreign women (Judges 14ff). Yet, these men were used mightily by God to deliver His people. God does not have to wait for us to be right with Him to use us to His glory.
This can best be seen, I think, in the crucifixion of Christ. The people of Israel and the Roman rulers put Christ to death for sinful reasons. However, they did nothing that God had not predestined for them to do, “for truly in this city there were gathered together against your holy servant Jesus, whom you anointed, both Herod and Pontius Pilate, along with the Gentiles and the people of Israel, to do whatever your hand and your plan had predestined to take place. ” (Acts 4:27–28, ESV, emphasis mine) Through the sinful act of these people, God’s plan to redeem His people was being moved forward.
The question then is not if you will be used by God, but how you will be used by God. Will it be to demonstrate his wrath and justice or will it be to demonstrate His grace and mercy (see Romans 9:22-23)? Will it be from a hardened heart acting in rebellion to Him (as Pharaoh in Exodus) or a willing, joyful, and obedient heart? So let us pray that God will give us a heart of flesh that we may be obedient to Him (Ezekiel 11:19-20). Also, let us not be overly discouraged when we do fail, knowing that God uses sinful people to accomplish his purpose.