About DRV8880 AutoTune function

Hi Sir,

My company currently simulate DRV8880 now, but have some question need you help
1.    About DRV8880 AutoTune function, what situation we can use AutoTune function? Look spec should be relate motor’s torque?
2.    If we use AutoTune function, RSENSE suggest how to design?

Attachment file is motor spec, suitable in this case? thanks.

Vin = 10.8V~39V

Motor Current spec 350mA

Motor PPS not exceed 500PPS

[View:/cfs-file/__key/communityserver-discussions-components-files/38/JM25_2D00_L004A432_5F00_curve12V0.35A.pdf:1230:0]