How do you implement this in SimpleFOC? 
Sounds great.
This is still WIP. Once i’m happy with code i will make it available on my GitHub
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https://www.youtube.com/shorts/RqNlUFy0kOo
Switched to MAQ430 encoder (it’s just amazing, it tolerates any magnet position, angle etc.)
Here the NeoPixel 24 ring as additional visual feedback
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