Two DC Motors not Running at the Same time

Projects Programming
1

Hello, I'm a complete noob and trying to get both motors to run at the same time, the idea is that the program should receive an input and keep the previous motor running, could anyone please help me?

PROGRAM:

#include <Servo.h>
#include <SoftwareSerial.h>

int led1 = 6;
int vel_mtrasero=1000;
int vel_mprincipal=1000;
int giro=90;
Servo ESC;
Servo ESC1;
void setup() {
Serial.begin(9600);
//---------SETUP DE ESC-------------------------
ESC.attach(11); //Aciva el ESC
ESC1.attach(10);
ESC.writeMicroseconds(1000);
ESC1.writeMicroseconds(1000);
delay(5000);
//--------------------led1--------------------------
pinMode(led1,OUTPUT);
}

void loop() {
//----------SETUP BLUETOOTH------------
char DATO;
//-------------------------------------
if (Serial.available()>0){
ESC.writeMicroseconds(vel_mtrasero);
ESC1.writeMicroseconds(vel_mprincipal);
}
//-----------------------TRADUCCION DE DATOS DEL CELU-----------
while (Serial.available()>0){
DATO=Serial.read();
Serial.println(DATO);
switch(DATO){
//----------------------MOTOR TRASERO------------
//--------VEL MAXIMA------------
case'3': //en el caso de que lea "3"
vel_mtrasero=2000;
digitalWrite(led1,HIGH); //se prende la luz
break;
//------VEL MEDIA----------
case'4': //en el caso de que lea "4"
vel_mtrasero=1200;
digitalWrite(led1,HIGH); //se prende la luz
break;
//----________________--MOTOR PRINCIPAL--------
//------VEL MAXIMA------------
case'1': //en caso de que lea "1"
vel_mprincipal=2000;
digitalWrite(led1,HIGH); //se prende la luz
break;
//------VEL MEDIA--------------
case'2': //en caso de que lea "2"
vel_mprincipal=1200;
digitalWrite(led1,HIGH); //se prende la luz
break;
//----------------------------APAGAR LOS DOS MOTORES-----------
case'5':
vel_mtrasero=0;
vel_mprincipal=0;
digitalWrite(led1,LOW);
break;
}
}
}

2 
Servo ESC;
Servo ESC1;

Don't you have any imagination? The motors are attached to the Arduino for some purpose. The names of the instances should reflect the purpose.

if (Serial.available()>0){
  ESC.writeMicroseconds(vel_mtrasero);
  ESC1.writeMicroseconds(vel_mprincipal);
      }

If there is serial data available to read, don't read it. Instead, set the motors running at some speed. Why? Why don't you set the speed when you actually calculate the speed?

The code does something. You forgot to tell us what it actually does. You expect it to do something. You forgot to tell us that, too.

In general, ESCs have some arming sequence that you need to follow. I don't see you doing anything like that.

3

As @PaulS has said, you need to tell us exactly what happens when you run the program and what you want it to do that is different.

To make it easy for people to help you please modify your post and use the code button </>
codeButton.png

so your code 
looks like this

and is easy to copy to a text editor. See How to use the Forum

...R