The MD 3060 Allison I believe have the same codes.
The 21 12 code is in fact a code indicating an issue with your Tps--Throttle Position Sensor.
Read this and save=
Allison Transmission Codes Manual
If your not mechanically inclined - I would suggest you visit a certified Allison Shop for further evaluation.
It may just need an adjustment - Allison has a tool that plugs into your Allison TCU Plug under your dash used to adjust the pulse count each time your cable is adjusted back at the Transmission.