Analog voltage level conversion (level shift)
You want a simple gain of 5/2 = 2.5 centered around 2.5 V.  This is easy assuming you have 5 V power available, like from the motor controller:



This needs to be a rail to rail output opamp that can run from 5 V power, like the MCP6041 and many others.  R1 and R2 form a voltage divider to make the 2.5 V around which the input signal will be amplified.  C2 attenuates noise from the 5V supply even more than the DC to make a quiet and smooth DC level.  The opamp is in a classic positive gain configuration, with R4 and R3 setting the gain.  The impedance of the 2.5 V source produced by R1 and R2 effectively add to R3 for the purposes of gain, but that is a small contribution of 1.2 k&Omega; on 100 k&Omega;.  The gain will be slightly less than 2.5.