Firstly i want to say that huge inspiration and help for this project was blog post from berryjam. In his tutorial he was running his bldc in open loop without encoder , hall sensor feedback or back emf. That works but by doing that motor is running like stepper and draws ALOT of current. To do that at slow speed we need to use sine waves profiles or saddle profiles ( Space vector) like he did in his tutorial.
Short video of position control.