The term for the BBS02 pedal assistance is cadence sensing, The motion of the pedals, if it meets a certain rotation speed, is used as an on/off switch to turn on the motor, The speed of your pedaling has no effect nut, the motor speed will depend on the level of pedal assist chosen. If you have an assist level that matches how fast you want to ride, it can feel like riding a regular bike,
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A torque sensor system measures the above pedal pressure and provided notor assist based on the pressure. The better systems also take into account how fast you spin the pedals and adjust power accordingly, I own bikes with both types of pedal sensing. Both have their pros and cons.
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One difference between the two is when starting out on a bike, The cadence system needs to see the pedals rotate at least a half revolution before giving power. The torque assist system gives you power as soon as it feels enough pedal force,
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Another difference is in climbing a hill. If you run out of steam on a cadence bike, you have to go to a higher assist level to get more power, if that's available, On a torque sensor, it will give it to you if your pedal harder, if there is any more power left.. In both cases, if there's no more power in reserve, well then you fall over, if you ride like my wife. I don;t know how she does that.
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The gear sensor on a bafang is not required for normal riding, and has little to do with the above discussion,. You can have situations with both systems where you want a gear sensor, I guess if you had one, you could downshift on that hill without having to kill the motor manually. The sensor would do it, while you fall over,
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