The specs of permanent magnet DC motor are as follow: Nominal Voltage: 24 V Stall Torque: 32 mN.m Stall current (startin

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The specs of permanent magnet DC motor are as follow:
Nominal Voltage: 24 V
Stall Torque: 32 mN.m
Stall current (starting current): 0.58A
No load speed: 4000rpm
No load current: 14mA
Armature resistance (terminal resistance):41W
a) In the same graph plot the speed vs torque and the current vs
torque and then find:
b) the torque constant, and the speed torque gradient
(constant)
c) At maximum power what mass can be lifted by the motor if the
motor shaft diameter is 5 mm ?
d) If the motor is driving a torque load of 10 mN.m, what would
be the efficiency of the motor?
e) It desired to control the direction and rotation
speed of this motor by using PWM (pin 6) of Arduino
microcontroller. The frequency of PWM is 500Hz.
j) Design a complete power drive to interface the
motor with the microcontroller. And write the code for
Arduino
Need help with the last 2 questions (e) and
(j)