> 
> Current sensing is my new highest priority.
> I want to add current sensing, and program the PIC to never allow
current
> anywhere near the maximum (stall) current.

I personally wouldn't be doing current limiting via the micro, it will
add latency and a level of unreliability, especially in the debug stage.
Make the current limiter work an in the analog domain, and provide a
signal that the PIC can read to see if it's activated.  

BTW you need a totem pole (or push pull) driver for a MOSFET because you
need to be able to turn it on and off as quickly as possible, and that
means having a strong current source and sink capability.

Regards

Mike

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