# Control two 4in1 VOXL ESCs with one Voxl 2 Mini

Source: https://forum.modalai.com/topic/3558/control-two-4in1-voxl-escs-with-one-voxl-2-mini
Category: ESCs, Sensors and Accessories (https://forum.modalai.com/category/15/escs-sensors-and-accessories)
Tags: esc
Posted: 2024-06-17 15:19:27 UTC by mihirk284
Replies: 1 · Views: 506

## mihirk284 · 2024-06-17 15:19:27 UTC

Hi,

I am currently thinking of buying two  VOXL 4in1 ESC alongside the VOXL 2 mini. We are interested in using the robot with 6 - 8 motors. 

I saw on an earlier post that the VOXL UART hardware supports upto 2 4 in1 ESCs on the same connection (https://forum.modalai.com/post/4744). I am interested to know what are the changes that would be required to the driver on my end if I want to use 2 4in1 ESCs with this. Can you please point me to the right files that we need to change to be able to get this to work?

Alternatively, I am a bit confused on how I can use the VOXL IO driver to write to 8 PWM pinouts. I looked at the following page (https://docs.modalai.com/voxl2-io-user-guide/) but could not find a detailed set of instructions to do this. Can you please guide us?

Thank you :smile: 

Mihir Kulkarni

## Reply by mihirk284 · 2024-06-21 14:23:50 UTC

@Alex-Kushleyev This forum post can be considered resolved with this answer: https://forum.modalai.com/post/17782

Thanks for the update. Cheers!