I am using ESP32 and a BLDC gear motor with hall sensors with great success.
Now I want to use an external encoder (MA702) to close the position loop. I can’t use it as the main sensor because it is mounted on the external shaft, and after the gear. It means that the motor will revolve a few revolutions before the external encoder will move (or it will show movement, but it will be very small and will not compensate for the gear backlash)
I want to keep the halls as the main commutation sensor, but close the position loop on the MA702.
I think it is not possible today with SimpleFoc, am I right?
I think of implementing a second PID to do that.