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

  }

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


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