This repo contains an optimized version of the hoverboard mainboard firmware by rene-dev, crinq and NiklasFauth to use as a basic dual ESC. The control logic would be on a separate controller. Motor speed can be send via serial. Optimizations lie in a strict timeout, such that if the connection breaks, is delayed or wrong values are send the motors stop turning until the board is reset.
This firmware is for example used in my "hoverbrett" testplatform: https://figch.de/index.php?nav=hoverbrett