   }
 
   if (syntax_error) {
-    Serial.println("Incorrect syntax.  Example: SetKp 1.0"); 
+    Serial.println("Incorrect syntax.  Example: SetKd 0.001"); 
   }
   else {
     Serial.print("Setting Kd to: ");

double pwm_last;
double motor_rpm;

boolean debug_motor_rpm = false;

PID rpmPID(&motor_rpm, &pwm_val, &xv_config.rpm_setpoint, xv_config.Kp, xv_config.Ki, xv_config.Kd, DIRECT);



  arg = sCmd.next();
  if (arg != NULL) {
    sVal = atof(arg);    // Converts a char string to a float
  }
  else {
    syntax_error = true;
