I wrote some code using a hall sensor example and a quadrature encoder emulator and hacked it together, i only checked if it compiled but i never actually tested it.
https://github.com/geofrancis/hall-sensor-to-Quadrature-encoder-adapter .
I keep looking at the hall sensor example code to see if i can get the encoders working on the wheels, my understanding is that using the example code from Digikey to read the hall sensors we just need to then use some more code to output an emulated quadrature encoded signal.
this might work with modifications.
I have done the modifications, it compiles on a stm32f401 but i havent tested it yet.
I copy and pasted a dual motor version together, it compiles but i havent tested it further, I …
The stock hoverboard controllers should be ideal for a balance bot, it’s essentially what they are designed to do.