If you look on the disc side after removing all the washers etc, you'll see the bearing. The first washer must be small enough that it doesn't touch both the inner and outer parts of the bearing otherwise you get rubbing. If that doesn't solve it. Take the motor out and hold the axle in a vice while you test the motor. If the noise goes away, it's something you've done with washers/spacers.
The S12P is indeed sensorless. It'll still drive those two motors perfectly. Just leave the halls disconnected.
It's difficult to say without hearing the noise, but a faulty phase or hall connection can make the motor make rubbing noises. Try both controllers to see if the rubbing noise goes away. I'd be very surprised if there's anything wrong with your motor.
16 (12) means 16" wheel code 12. It must be fast for a 16" wheel. I've recently become more confused about code numbers. I thought I had it, but I have a 48v code 10, which I run at 36v. It does an easy 25 mph. Code 10 should be 315 rpm at 48v, so I would have expected less at 36v. Therefore the code number must be independent of voltage, so code 12 will do 250 rpm at 36v and 333 rpm at 48v.
The S12P is indeed sensorless. It'll still drive those two motors perfectly. Just leave the halls disconnected.
It's difficult to say without hearing the noise, but a faulty phase or hall connection can make the motor make rubbing noises. Try both controllers to see if the rubbing noise goes away. I'd be very surprised if there's anything wrong with your motor.
16 (12) means 16" wheel code 12. It must be fast for a 16" wheel. I've recently become more confused about code numbers. I thought I had it, but I have a 48v code 10, which I run at 36v. It does an easy 25 mph. Code 10 should be 315 rpm at 48v, so I would have expected less at 36v. Therefore the code number must be independent of voltage, so code 12 will do 250 rpm at 36v and 333 rpm at 48v.