But now I have to give de reference(degree, position) by serial communication to all 22 motor.
You can only do this with some sort of positional feedback. Are these servos or just regular DC motors?
If they are regular DC motors then this is not an easy thing to do and for 22 then I fear it might be beyond the capability of an arduino.
It is not clear if you have to report the position or set it.
Is this a real project or some sort of assignment?
But now I have to
suggests it is some sort of task you have been set by an educator.