My 2006 Sonata LX cranks and sometimes starts. Usually it doesn't.

I swapped out the relay for another one, and that didn't fix it.

I checked the spark plugs for a spark, which it has.

I attached a noid light to the fuel injector, and it flashes.

I sprayed starter fluid into the throttle and the car starts and stays running.

I ran a computer diagnostic on it and it reads this: "Code P0016." "Monitor camshaft position in the full retard condition or during CWT control. Camshaft switching out of 109 to 141 degrees in full retard position, 70 to 140 degrees CRK during CWT control."

I'm not mechanically inclined, but got some advice as to what to do up to now. Now I'm at a complete loss as to what is wrong or what to do next.

Any ideas?

Thanks!