diff --git a/main/Kconfig.projbuild b/main/Kconfig.projbuild
index c54c4d2..270e9a3 100644
--- a/main/Kconfig.projbuild
+++ b/main/Kconfig.projbuild
@@ -1,19 +1,33 @@
 menu "Example Configuration"
 
-    choice EXAMPLE_HARDWARE
-        prompt "Hardware"
-        default EXAMPLE_HARDWARE_MOTORGO_MINI
-        help
-            Select the hardware to run this example on.
+  choice EXAMPLE_HARDWARE
+  prompt "Hardware"
+  default EXAMPLE_HARDWARE_MOTORGO_MINI
+  help
+    Select the hardware to run this example on.
 
-        config EXAMPLE_HARDWARE_MOTORGO_MINI
-            depends on IDF_TARGET_ESP32S3
-            bool "MotorGo Mini"
+  config EXAMPLE_HARDWARE_MOTORGO_MINI
+  depends on IDF_TARGET_ESP32S3
+  bool "MotorGo Mini"
 
-        config EXAMPLE_HARDWARE_TEST_STAND
-            depends on IDF_TARGET_ESP32S3
-            bool "BLDC Motor Test Stand (TinyS3)"
+  config EXAMPLE_HARDWARE_TEST_STAND
+  depends on IDF_TARGET_ESP32S3
+  bool "BLDC Motor Test Stand (TinyS3)"
 
-    endchoice
+  endchoice
+
+  choice EXAMPLE_BLDC_MOTOR
+  prompt "Which BLDC motor to control"
+  default EXAMPLE_BLDC_MOTOR_1
+  depends on EXAMPLE_HARDWARE_MOTORGO_MINI
+  help
+    Select the BLDC motor to control. This is only used for the MotorGo Mini hardware, which has two motors.
+
+  config EXAMPLE_BLDC_MOTOR_1
+  bool "Motor 1"
+  config EXAMPLE_BLDC_MOTOR_2
+  bool "Motor 2"
+
+  endchoice
 
 endmenu
diff --git a/main/main.cpp b/main/main.cpp
index 0978a84..d576497 100644
--- a/main/main.cpp
+++ b/main/main.cpp
@@ -19,9 +19,38 @@ extern "C" void app_main(void) {
   logger.info("Using MotorGo Mini hardware configuration");
   // we don't want to init both motors, so we'll pass in auto_init=false
   auto &motorgo_mini = espp::MotorGoMini::get();
-  auto motor1_config = motorgo_mini.default_motor1_config;
-  motorgo_mini.init_motor_channel_1(motor1_config);
+
+#if CONFIG_EXAMPLE_BLDC_MOTOR_1
+#pragma message("Using MotorGo Mini Motor 1")
+  logger.info("Configuring Motor 1");
+  auto motor_config = motorgo_mini.default_motor1_config;
+#elif CONFIG_EXAMPLE_BLDC_MOTOR_2
+#pragma message("Using MotorGo Mini Motor 2")
+  logger.info("Configuring Motor 2");
+  auto motor_config = motorgo_mini.default_motor2_config;
+#else
+#error "No motor selected"
+#endif
+
+  // velocity PID config:
+  motor_config.velocity_pid_config.kp = 0.010f;
+  motor_config.velocity_pid_config.ki = 0.100f;
+  motor_config.velocity_pid_config.kd = 0.000f;
+  // angle PID config:
+  motor_config.angle_pid_config.kp = 5.000f;
+  motor_config.angle_pid_config.ki = 1.000f;
+  motor_config.angle_pid_config.kd = 0.000f;
+
+#if CONFIG_EXAMPLE_BLDC_MOTOR_1
+  motorgo_mini.init_motor_channel_1(motor_config);
   auto motor = motorgo_mini.motor1();
+#elif CONFIG_EXAMPLE_BLDC_MOTOR_2
+  motorgo_mini.init_motor_channel_2(motor_config);
+  auto motor = motorgo_mini.motor2();
+#else
+#error "No motor selected"
+#endif
+
   using BldcHaptics = espp::BldcHaptics<espp::MotorGoMini::BldcMotor>;
 #elif CONFIG_EXAMPLE_HARDWARE_TEST_STAND
 #pragma message("Using TinyS3 Test Stand hardware configuration")