# Custom Frame - Connecting two add\_motors\_raw to the same engine

**URL:** <https://discuss.bluerobotics.com/t/custom-frame-connecting-two-add-motors-raw-to-the-same-engine/12019>\
**Category:** ArduSub\
**Created:** [April 26, 2022, 6:20am UTC](https://discuss.bluerobotics.com/t/custom-frame-connecting-two-add-motors-raw-to-the-same-engine/12019 "2022-04-26T06:20:12Z")\
**Posts on this page:** 1\
**Showing post:** 3

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**Author:** ![PerFrivik](https://avatars.discourse-cdn.com/v4/letter/p/f14d63/32.png) [@PerFrivik](https://discuss.bluerobotics.com/u/PerFrivik)\
**Post date:** [April 26, 2022, 7:31am UTC](https://discuss.bluerobotics.com/t/custom-frame-connecting-two-add-motors-raw-to-the-same-engine/12019/3 "2022-04-26T07:31:36Z")

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Hey Eliot!

Thank you for your fast reply, we are using stepper motors so not servo motors. So we will rather be using the motors to get the buoyancy module in place then turn them off so that the brakes activate again. Regarding how its controlled, its still not sure. I made a post a few days ago asking how the controller was made and if it would be possible to edit ([Altering/Creating my own PID controller for ArduSub](https://discuss.bluerobotics.com/t/altering-creating-my-own-pid-controller-for-ardusub/11969)), since im not quite sure myself yet how I want to do the controller. Would you recommend doing it like the gripper? The idea for the UUV is not to be controlled by a handheld controller but rather for it to be autonomous, so using a PID controller.

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