Current feedback from MOSFET H-Bridge
Just to not leave this thread in the lurch, unanswered, I will try here: Most microcontrollers have an analog-to-digital converter, many also have a built-in comparator. In either case, a low-value sense resistor in the mosfet source provides a signal that is proportional to the current through the transistor and therefore the transistor load. The concept of a current-sense resistor is illustrated here as the "low-side option". A typical value of this current-sense resistor is .1 or .01 ohms. The signal output may need to be amplified a bit to properly feed the analog-to-digital converter or comparator.