Hi,
Sensing BEMF allows you determine the speed of the motor. Sensing the current allows you to determine the amount of torque the motor is producing. You could detect a stalled motor by sensing the current. The easiest and most common way to sense current is to place a resistor between the bottom of the bridge and GND, called low side sensing. You now have a voltage across this resistor that is relative to the current thru the motor. (This is not always true depending on how you drive the bridge etc but it's the easiest way)
Have you seen the Microchip application notes on motor control:
DC Motor control tips & tricks
Brushed DC Motor fundamentals
/Henrik.
Bookmarks