 #define ROTATIONCORRECTION_MAX 50
 
 int32_t targetBearing = 0;
-int32_t rotatationCorrection;
-
-PID bearingPID (&bearing_int, &rotatationCorrection, &targetBearing,
+int32_t rotationCorrection;
+
+PID bearingPID (&bearing_int, &rotationCorrection, &targetBearing,
 	BEARING_KP, 0, BEARING_KD, -ROTATIONCORRECTION_MAX, ROTATIONCORRECTION_MAX, 1000);
 
 

				  "ballInZone",
				  "targetDir",
				  "targetVelocity",
				  "rotatationCorrection");
			Serial.println("PRESS ANY KEY TO CONTINUE");
			// wait for key
			while(!Serial.available());

				  targetDir_r_field,
				  targetVelocity,
				  bearing,
				  rotationCorrection);

	if(Serial.available()){
		char serialCommand = Serial.read();
