Is this a college project with set parameters or a real world application?
Have you calculated the wieght the Hydrogen
Tanks will add?
Have you figured out how far the tanks you plan will let you travel?ic
Have you calculated what you vehicle will require, as far as power?
Are you planning direct drive or gearing?
Have you figured how to suspend the motors to reduce the un-sprung wieght?
why do you use a differential with two motors? how do you plan to hook the motors to the wheels.
here is some basic code to review, it is not working code but addresses you focus.
I use a mico that has DSP and DMA with interupts.
As far as the motor, I had mine built, since like you, that is my one weakness.
Mine are also rated at 250KW for each of four wheels.
My vehicle is a 30 ft bus.