A few weeks back I started to play with simple FOC and wanted to build something basic around it before moving to a full robot.
Here is my clock that has two gimbal style motors, one for each hand. Running in closed loop position control.
Made a custom PCB. Encoders are A5600, drivers are DRV8313. No current feedback, so arguably not really FOC.
Processor is ESP32-C6 super mini. Time is internet derived with Timezone and day Light Savings compensation. Settings are handled by a captive portal HTML page.
each minute the hands do a full rotation in alternating directions to the new time.
Video: