4 vesc motors at once?

Hello!

I'm studying feasibility for a project.  Please forgive me for being new here and not knowing all the things yet.

I'm interested in controlling four Rewinch motors (VESC-based) from a central source.  What's the best way to go about this? 

FWIW, I'm very familiar with writing stepper control firmware, kinematics.  It's not a big deal for me to make a PCB that would connect four bluetooth devices to four ESCs at once.  At this point I have no idea how to talk to them, either to send acceleration or to get position data back.  I would need both to control the motion profile.

I eagerly await your reply.  Thank you!