Ben Nuttall has been having a go with the new Remoting facilities available on the v1.4 release of GPIO Zero. He’s used the virtual joystick on the SenseHAT emulator as the controller and then sent commands remotely to another Pi which has the motor controller and motors on board. He’s then changed the Python slightly to do it ‘for real’ with a real SenseHAT. His complete thought process, together with all the code you need to do it yourself, is available on his blog.