Hall sensor speed feedback using arduino library?

I would like to build a self-balancing robot using hoverboard wheel BLDC.
The motor have hall sensor which enable speed control using the odrive.
My question; is when i use an arduino (or any other uC) with the odrive library is it possible to get the
current measure speed using the hall sensor mode ? (using this command float GetVelocity(int motor_number))
I saw the impressive project done by [LuSeKa], but it seems that he doesn’t use the hall sensor speed feedback for the balancing control loop. So here is why I ask the question…

Thanks in advance for the answer !

Hall sensors are very coarse resolution so the speed estimate from them will not have great results for self balancing I think.