I checked the VESC documentation and they do in fact support encoders. Another problem though is there are a LOT of very smart people on the odrive forum (
discord) and there are hundreds of posts reporting problems with noise on the lines of AB-encoders. It's a significant problem. I spent about a year working with odrive and dumped it because of noise issues, it will definitely make me rethink getting this motor.
Three options might be:
1) The RMC-22 is looking very attractive as long as there is an exposed side of the motor axle.
2) Encoders basically work to use two signals to provide a direction and pulse rate that corresponds to speed. I think still think it would be easy to translate that to a form of hall sensor input.
3) Putting a line driver between the encoder and the controller.
4) PWM comes out of the motor as well, which I believe can connect to VESCs. Too lazy to check.
Of those, option 1 would probably be the best.