I am trying to implement a FOC algorithm in an MCU to use with a BLDC motor. My problem is that I only have the hall sensor feedback, no precise encoder can be used. With this 4 pole pairs motor hall sensors give 15 degree resolution. I think this is the reason my algorithm is failing and I cant get a DC constant d and q values. Is there any better way to drive a BLDC motor than FOC? What I need actually is a way to feed torque/ current to the regulator and be able to precisely read the feedback. My analog circuitry for measuring Ia and Ib currents works fine, I just dont know how to calculate the needed feedback value. In other words- Can FOC even work for BLDC without encoder but just with Hall sensors? If not, what is the better way? I would appreciate all help.