Ben Katz writes:
A while ago I added the hall effect encoder IC I’ve been using directly to the motor controller PCB. The controller sits directly on the back of the motor (with a magnet added to the motor shaft), and the phase wires solder straight in. I also have a pair of board-mounted XT30 connectors on the DC bus for easy daisy-chaining. Otherwise, the board is basically identical to the previous version of this controller. I’ve now built over a dozen of these, and have had no problems.
See the full post on BuildIts in Progress blog.