So as i said i will make my own FOC controller which turned into a blowed up ESP32…jk jk in fact it worked super nicely it actually works! So now just waiting that the PCB arrives and the laser sensors for wall avidance.
and the breakdown of today is: i’m happy
https://youtu.be/9f9dHl2CsRY?si=nJjeVBc7lghW3pOh