This diploma thesis is focused on brushless DC motors, how they work and how to control them using phase tables. It describes the internals of existing motion control library (PXMC) and provides documentation of its elements, which were published under GPL license. Additionally it presents extensions of PXMC library, which were made to control two brushless motors with help of Renesas’ H8S/2638 microcontroller. It introduces a modularization of PXMC and software for hall sensor table and index mark detection. The target application is a mobile robot for Eurobot competition.