I would like to use a vesc controller and a bldc motor in an application where a controllable torque is needed at low or zero velocity.
I am able to use the motor at high speeds with foc in sensorless mode. But it fails to run smoothly with foc in encoder mode. The both the motor and the encoder are detected and calibrated correctly with the VESC tool.
I am using a VESC 6 and i am controlling the motor by setting a desired current (which I would like to result in a constant torque) over UART.
edit: i am using a ABI encoder with a resolution of 10000. So 40000 cpr. The encoder correctly registers 360 degrees in one turn.