Control the current sensor of a DC motor using an Arduino board and Arduino motor shield. This shielding structure is based on the L298 H-bridge and provides users with two current sensing pins that can be used to measure the instantaneous current absorption of each H-bridge. After some experiments, the designer managed to gain a fairly clear understanding of the absorption behavior of DC motors:

Editor's noteDiscovered L298 h-bridge, basically the next step is from L293, from Adafruit motor shield, with current sensors already built-in! Fortunately, both Sparkfun Arduino and Arduino use this h-bridge, but only Arduino has these pins broken. So I ordered both, thinking that if necessary, I could black out Sparkfun's one by cutting off the traces and soldering some small jumpers (I studied the circuit diagram for a long time and convinced myself that this was possible). From the information I have collected from the data sheet, I still need to add a current sensing resistor, which uses the same method as I used before, but I believe that some aspects of the integrated solution may be different.