Hi,
You don't give much information...about motor drive, current, sensor interface(s), sensor count, which PC software...
Thus we have no idea about your situation...
I assume you already know, that a valid answer is "with wires", thus I'm asking myself which answer are you looking for.
(Device selection, interface selection, wiring, soldering, writing code, power supplies...)
Try this:
Do an internet search for similar projects (there are millions in the internet). Find out what hardware (sensors, motor drive...) they use, how they connected them and how they talked to them.
Then draw an overview of your application and all devices you already know you want to use...and their connections..
Thin pick up one single item (item after item) and ask more detailed questions.
Klaus