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Originally Posted by r691175002
The plan was to add an incremental encoder to the motor shaft or at some point in the gearbox but upon further consideration a sensored motor would likely be more than accurate enough.
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The sensor in the motor is used for commutation. You can't commutate a motor with a sensor located on a geared-down gearbox shaft.
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I would be likely adding my own sensor regardless of the type used.
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If the motor has a sensor you don't need an external sensor. You can know vehicle position and velocity by counting motor commutations (unless it's all done in hardware and hidden from you).