A ready made solution like the chip timmers suggested is perfect but can be expensive too.

5 ohm is too high for the job. Put a low one in the range of 0.1 to 0.5 ohms. There is no need to dissipate too much power on this resistor.

And besides this, you need some form of filtering after you get your voltage sample. A low pass filter is necessary as the motors do produce spikes.

Then the analog input of a PIC needs at least 2.5 to 3 volts so you have to amplify with an op-amp the voltage of the resistor by a factor of 50 to get from a 0.5ohm at 200mA the 0-5 Volt PIC input.

A LMC66x series is a good choice for the op-amp that has to work at low Vdd voltages (+5V) and is rail to rail output.

Ioannis