Welcome.
Please read the how to get the most from the forum post. The post contains information on what we need to know in order to help you.
What is your expectation? Do you want help to put the hardware together and write the software or do you want us to do all the work for free?
If the former:
Post your best attempt at writing the code. Please read the forum guidelines to see how to properly post code and some information on making a good post.
Use the IDE autoformat tool (ctrl-t or Tools, Auto format) before posting code in code tags.
Please post a schematic. Written descriptions are always more ambiguous than a drawing. Hand drawn, photographed and posted is fine. Include all pin names/numbers, components, their part numbers and/or values and power supplies.
What are the motor drivers? What are the specifications of the motor power supply.
If you want someone to do the work for you, post in the Jobs and Paid Consultancy category