Wiring ESC units to allow for PWM control and then writing software to control the motors is not as easy as it sounds.
Rapserry Pi B/B+ GPIO hardware interface.
| Power | 3v3 | 1 | 2 | 5v | Power | ||
| SDA1_I2C | GPIO2 | 3 | 4 | 5v | Power | ||
| SCL1_I2C | GPIO3 | 5 | 6 | Ground | |||
| GPIO4 | 7 | 8 | GPIO14 | UART0_TXD | |||
| Ground | 9 | 10 | GPIO15 | UART0_RXD | |||
| Motor 1 Signal | GPIO17 | 11 | 12 | GPIO18 | PCM_CLK | Motor 3 Signal | |
| GPIO27 | 13 | 14 | Ground | ||||
| Motor 2 Signal | GPIO22 | 15 | 16 | GPIO23 | Motor 4 Signal | ||
| Power | 3v3 | 17 | 18 | GPIO24 | |||
| SPI0_MOSI | GPIO10 | 19 | 20 | Ground | |||
| SPI0_MISO | GPIO9 | 21 | 22 | GPIO25 | |||
| SPI0_SCLK | GPIO11 | 23 | 24 | GPIO8 | SPI0_CE0_N | ||
| Ground | 25 | 26 | GPIO7 | SPI0_CE1_N | |||
| I2C_ID_EEPROM | ID_SD | 27 | 28 | ID_SC | I2C_ID_EEPROM | ||
| GPIO5 | 29 | 30 | Ground | ||||
| GPIO6 | 31 | 32 | GPIO12 | ||||
| GPIO13 | 33 | 34 | Ground | ||||
| GPIO19 | 35 | 36 | GPIO16 | ||||
| GPIO26 | 37 | 38 | GPIO20 | ||||
| Ground | 39 | 40 | GPIO21 | ||||