In this paper, the BLDC motor control using rotor position sensing scheme is discussed. The implemented motor drive is controlled by an 8-bit microcontroller PIC18F4431 for driving the power inverter bridge. The use of microcontroller in the drive system will provide flexible and on-line source code modifications in accordance with the motor and circuit requirements. Hardware implementations which have been built consist of a control board, power inverter board and 6-slot/4-pole permanent magnet brushless motor for underwater applications. The information about rotor positions of BLDC motor is obtained using the built-in Hall Effect sensors mounted inside stator iron. Hence, a proper driving sequence for the BLDC motor has been successfully generated as validated by the experiment.