diff --git a/docs/simplefoc_library/code/from_scratch.md b/docs/simplefoc_library/code/from_scratch.md
index 2f488bc..6051fb8 100644
--- a/docs/simplefoc_library/code/from_scratch.md
+++ b/docs/simplefoc_library/code/from_scratch.md
@@ -155,7 +155,7 @@ void setup() {
   // monitoring port
   Serial.begin(115200);
   
-  // initialise encoder hardware
+  // initialise sensor hardware
   sensor.init();
 
   Serial.println("Sensor ready");
@@ -192,7 +192,7 @@ void setup() {
   Serial.begin(115200);
   
   // initialise encoder hardware
-  sensor.init();
+  encoder.init();
   // hardware interrupt enable
   encoder.enableInterrupts(doA, doB);
 
@@ -203,9 +203,9 @@ void setup() {
 void loop() {
   // IMPORTANT
   // read sensor and update the internal variables
-  sensor.update();
+  encoder.update();
   // display the angle and the angular velocity to the terminal
-  Serial.print(sensor.getAngle());
+  Serial.print(encoder.getAngle());
   Serial.print("\t");
   Serial.println(sensor.getVelocity());
 }
@@ -1447,4 +1447,4 @@ Once the current control works well you can proceed to the velocity and angle mo
 - To go from the current control to the angle control you just need to change the `motor.controller` variable to `MotionControlType::angle` and set the `motor.target` to the desired angle (in radians `RAD`).
 - You can also use the `Commander` interface to transition to the velocity and angle control modes using the `MC1` and `MC2` commands.
 
-The velocity and angle motion control modes have additional configuration parameters that might be needed to obtain a smooth and stable operation of your motor. You can find more info about these parameters in the [motion control docs](closed_loop_motion_control).
\ No newline at end of file
+The velocity and angle motion control modes have additional configuration parameters that might be needed to obtain a smooth and stable operation of your motor. You can find more info about these parameters in the [motion control docs](closed_loop_motion_control).