A motor current sensing circuit using a single sensing resistor in the motor current path to sense the current from the voltage source. The circuit includes an amplifier and a unity-gain inverter that translate the current across the sensing resistor into a voltage analog of the current in the motor. At any instant in time, the magnitude of the voltage across the sensing resistor is proportional to the magnitude of the motor current. During the forward portion of the duty cycle, a high-speed switch connects the sensor output to the amplified sensed bus current analog. During the reverse portion, the sensor output is connected to the inverted bus current analog. The average value of the sensor output is the voltage analog of the average value of the motor current.