When perusing "Op Amps For Everyone", pay attention to Chapter 4 where the author tells us how to offset and scale signals for use with uCs. Want to deal with battery voltage of 10.5 - 14V, don't want to give up resolution for the first 10.5V, and then rescale to use the maximum ADC swing? Chapter 4 shows how to do it with 4 resistors and a single supply op amp.
My favorite chapter!