Not directly - you could read the registers of course - have a look at the source code of asuro.c:
/* Set motor speed */
inline void MotorSpeed(unsigned char left_speed, unsigned char right_speed)
OCR1A = left_speed;
OCR1B = right_speed;
/* Set motor direction */
inline void MotorDir(unsigned char left_dir, unsigned char right_dir)
PORTD = (PORTD &~ ((1 << PD4) | (1 << PD5))) | left_dir;
PORTB = (PORTB &~ ((1 << PB4) | (1 << PB5))) | right_dir;
So you could read OCR1A register to get speed value of left motor.
You can also edit the asuro.c file and add variables that store these values...