[mikets]

If I understand you correctly, you have something like:

motor1.set(1.0);
wait(3.0);
motor1.set(0.0);

To control two motors at the same time, you can just do:

motor1.set(1.0);
motor2.set(1.0);
wait(3.0);
motor1.set(0.0);
motor2.set(0.0);