I have been researching IOT/home automation and haptic feedback enabled devices for my masters thesis, and I have came up with this open source project/framework, which could be used as a experimental kit, testbench or final product.
Features a hollow shaft BLDC, DRV8311 BLDC driver IC, MT6701, PAJ7602U2, AHT10, ESP32 and a touch screen!
Uses adafruit sensor libraries and arduino simpleFOC libraries.