Does anyone know if it is possible to do position control on a geared motor (belt drive, FOC mode) with dual encoders? There are 3 hall sensors on the BLDC motor (aka the forst encoder) and a AS5147 14 bit SPI encoder on the output shaft of the belt drive (aka the second encoder). The HALL sensors are used for the commutation and the magnetic absolute encoder for the (PID) position control. In case it is relevant, I'm using the CheapFOCer v2 hardware. Would this be possible out of the box (HW and SW wise)?