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Those motors do not seem to have encoders at all, so will not do for CNC control as you found out and i am late to point out.
You can try adding encoders as the lid is easy to open, but i fear it might be way to much work to attach them due to short shaft and limited space.
Might be possible using those magnetic encoders as they are simply glued to the shaft, so only drilling a hole for it and for the electronic on the lid, but i never used them so i have no idea how good and reliable they are.

You should use the M100 to call python programs to do this, see the following example.......linuxcnc.org/docs/stable/html/gcode/m-code.html#mcode:m100-m199.