 }
 
 /**
-* Copute the next PIDs. 
+* Compute the next PIDs. 
 */
 inline void computePID() {
 	acquireLock();

			#endif
			//run pids at 100Hz
			if(oneHunHzEvent.shouldRunEvent()) {
				computePID();
			}
			updateMotors();
			
			#ifdef DEBUG

				Update the controls if the update flag was set in the serialEvent1 callback.
			*/
			if(update_flag) {
				//lock in case there are interrupts. 
				acquireLock();
				for(int i = 0; i < BUFFERSIZE; i++) {
					throttle = buffer[0];
