### Author:  [@leon1](https://community.simplefoc.com/u/leon1)
#### Post date: [December 28, 2025, 10:42am UTC](https://community.simplefoc.com/t/running-two-motors-on-one-esp32/7894/1 "2025-12-28T10:42:15Z")
Hello guys!
Just a quick question for you, if I want to control two motors with one ESP32 is it possible to do it like this or do I need to use RTOS or some other operating system?
Here is the code I was talking about
> #include \
>
> #define M1\_PWM\_U 16
> #define M1\_PWM\_V 4
> #define M1\_PWM\_W 32
>
> #define M1\_HA 25
>
> #define M1\_HB 26
>
> #define M1\_HC 27
>
> #define M2\_PWM\_U 27
>
> #define M2\_PWM\_V 26
>
> #define M2\_PWM\_W 25
>
> #define M2\_HA 4
>
> #define M2\_HB 15
>
> #define M2\_HC 35
>
> float target\_velocity\_common = 400.0; // rad/s
>
> BLDCMotor motor1 = BLDCMotor(1);
>
> BLDCMotor motor2 = BLDCMotor(1);
>
> BLDCDriver3PWM driver1 = BLDCDriver3PWM(M1\_PWM\_U, M1\_PWM\_V, M1\_PWM\_W);
>
> BLDCDriver3PWM driver2 = BLDCDriver3PWM(M2\_PWM\_U, M2\_PWM\_V, M2\_PWM\_W);
>
> HallSensor sensor1 = HallSensor(M1\_HA, M1\_HB, M1\_HC, 1);
>
> HallSensor sensor2 = HallSensor(M2\_HA, M2\_HB, M2\_HC, 1);
>
> // void doA1(){sensor1.handleA();}
>
> // void doB1(){sensor1.handleB();}
>
> // void doC1(){sensor1.handleC();}
>
> // void doA2(){sensor2.handleA();}
>
> // void doB2(){sensor2.handleB();}
>
> // void doC2(){sensor2.handleC();}
>
> void setup() {
>
> Serial.begin(115200);
>
> SimpleFOCDebug::enable(&Serial);
>
> sensor1.init();
>
> sensor2.init();
>
> motor1.linkSensor(&sensor1);
>
> motor2.linkSensor(&sensor2);
>
> driver1.voltage\_power\_supply = 12;
>
> driver2.voltage\_power\_supply = 12;
>
> if (!driver1.init() || !driver2.init()) {
>
> Serial.println(“Driver init failed!”);
>
> while (1);
>
> }
>
> motor1.linkDriver(&driver1);
>
> motor2.linkDriver(&driver2);
>
> motor1.controller = MotionControlType::velocity;
>
> motor2.controller = MotionControlType::velocity;
>
> motor1.voltage\_sensor\_align = 1;
>
> motor2.voltage\_sensor\_align = 1;
>
> motor1.PID\_velocity.P = 0.01f;
>
> motor1.PID\_velocity.I = 0.1f;
>
> motor1.PID\_velocity.D = 0;
>
> motor1.voltage\_limit = 5;
>
> motor1.PID\_velocity.output\_ramp = 100;
>
> motor1.LPF\_velocity.Tf = 0.05f;
>
> motor1.sensor\_direction = Direction::CW;
>
> motor2.PID\_velocity = motor1.PID\_velocity;
>
> motor2.voltage\_limit = motor1.voltage\_limit;
>
> motor2.LPF\_velocity.Tf = motor1.LPF\_velocity.Tf;
>
> motor2.sensor\_direction = Direction::CW;
>
> motor1.init();
>
> motor2.init();
>
> motor1.initFOC();
>
> motor2.initFOC();
>
> }
>
> void loop() {
>
> // FOC Loops
>
> motor1.loopFOC();
>
> motor2.loopFOC();
>
> motor1.move(target\_velocity\_common);
>
> motor2.move(target\_velocity\_common);
>
> }
---
### Author:  [@quentin](https://community.simplefoc.com/u/quentin)
#### Post date: [December 28, 2025, 8:13pm UTC](https://community.simplefoc.com/t/running-two-motors-on-one-esp32/7894/2 "2025-12-28T20:13:46Z")
Yes, your approach will work (notice that I haven’t verified the implementation details except for one critical omission: you’re missing the `motor.motion_downsample` option, which is essential to prevent noise).
---
### Author:  [@leon1](https://community.simplefoc.com/u/leon1)
#### Post date: [December 29, 2025, 4:28pm UTC](https://community.simplefoc.com/t/running-two-motors-on-one-esp32/7894/3 "2025-12-29T16:28:16Z")
Thanks for your answer!
How exactly is the motor.motion\_downsample to implement?
---
### Author:  [@quentin](https://community.simplefoc.com/u/quentin)
#### Post date: [December 29, 2025, 5:08pm UTC](https://community.simplefoc.com/t/running-two-motors-on-one-esp32/7894/4 "2025-12-29T17:08:22Z")
> [@leon1](#):
>
> How exactly is the motor.motion\_downsample to implement?
It’s a parameter specific to your system, just like the PID values. I usually start at 10 and modify it until my system behaves correctly.
---
### Author:  [@leon1](https://community.simplefoc.com/u/leon1)
#### Post date: [December 31, 2025, 2:46pm UTC](https://community.simplefoc.com/t/running-two-motors-on-one-esp32/7894/5 "2025-12-31T14:46:56Z")
thank you very much!