xranalli,
As gwhy stated - there are many known issues with dual wheel drive motorcycles and they are and likely have been the holy grail for sport bike design since the first proof of feasible electric motorcycles became reality.
I spent about a year perfecting (well, for my purposes) an all wheel drive primary controller using my favorite prototype MCU board the Arduino ATmega328, I had to dump the arduino library to regain my second time for use in Interrupts - **(loss or detection of loss of front wheel traction must be accounted for immediately, hence the use of interrupts). In the end the system monitored both motors current looking for various tells such as if the front motor loads up second or so before the rear it usually means an incline and delivers proportionally more power to the rear - unless there is slip.
One other trick was in monitoring the wheel speed of each wheel using 3 hall sensors and 14 bit oversampling per analog input - dedicating a single Atmega to detection of this condition when one wheel would go faster than the other.
My use in the end of a dual Hub Motor 2004 Hard Rock Pro with normal dirt track tires was to commute dozens of times to the pharmacy 4 miles from my condo complex at roughly 40 mph in 26" of snow (yes I was wearing ski gear and a full helmet) but the miraculous parts were:
A.) I was passing snow plows through the rough by at least 10 MPH on major highways
B.) My anti lock brake warning worked (could be connected to regen) and indicates if a wheel is slipping (small LED light on bar readout)
C.) No matter how hard I pushed the bike it felt more like an AWD truck or perhaps a Quad Runner is a better analogy, it was fast to accelerate, ran through the worst of it and never complained.
D.) In the 80+ miles of errand running on this bike with Pannier packs (running 15S2P per motor) I never once lost it, went down or had a hairy experience of loosing traction or balance! The log showed my anti slip system had activated > 1000 times in that 80+ miles over 2 days.
my system wasn't perfect (I hadn't designed for some hardware failures and didn't feel like it since I had proven the concept) but it's along the lines of what I believe you will need...
If I can be of assistance in designing or implementing an embedded or RTOS style control system, feel free to PM me.
Regards,
Mike Keefer
mwkeefer@gmail.com
267-303-7050