 // System Variables
 // *****************
 
-int enconder_resolution = 2000; //2000 counts per turn
+int encoder_resolution = 2000; //2000 counts per turn
 int reduction = 100; // harmonic drive reduction
 
 void setup() 

      break;
    case Operational:
      dataRead();
      positionSetpoint();
      break;
  }
  delay(100);

//*******************
// POSITION SETPOINT
//*******************
void positionSetpoint(double position) 
{
  unsigned char len = 0;
  unsigned char buf[8];

  uint32_t angulo = (position/4096)*200000;

  setpoint_position[4] = angulo & 0xFF; 
  setpoint_position[5] = (angulo >> 8) & 0xFF;
  setpoint_position[6] = (angulo >> 16) & 0xFF;
  setpoint_position[7] = (angulo >> 24) & 0xFF;

  Serial.println("Position: ");
  Serial.println(position);

  Serial.println("Angulo: ");
  Serial.println(angulo);

  Serial.println("Enviei a mensagem");
  // Serial.println(setpoint_position,HEX);
  // clear the string:
  CAN.sendMsgBuf(0x601, 0, 8, setpoint_position);
  delay(10);
}

//***************
// DATA READ
//***************
float dataRead()
{
  unsigned char len = 0;
  unsigned char buf[8];
