Index: firmware/App/Controllers/DialysatePumps.c
===================================================================
diff -u -rd54f4bbfdb5b751ccc661735d4586f6a2dad5d02 -r25e940840c5a54bd98fcadf582d3a1587b55a59d
--- firmware/App/Controllers/DialysatePumps.c	(.../DialysatePumps.c)	(revision d54f4bbfdb5b751ccc661735d4586f6a2dad5d02)
+++ firmware/App/Controllers/DialysatePumps.c	(.../DialysatePumps.c)	(revision 25e940840c5a54bd98fcadf582d3a1587b55a59d)
@@ -43,10 +43,11 @@
 #define DATA_PUBLISH_COUNTER_START_COUNT                    60                                                      ///< Data publish counter start count.
 
 #define DP_CONTROL_INTERVAL                                 ( 1000 / TASK_GENERAL_INTERVAL )                        ///< Interval (ms/task time) at which the dialysate pump is controlled.
+//#define DP_CONTROL_INTERVAL                                 ( 250 / TASK_GENERAL_INTERVAL )                        ///< Interval (ms/task time) at which the dialysate pump is controlled.
 #define DIALYSATE_PUMP_CONTROL_RUN                          0x01                                                    ///< Dialysate pump control run pump.
 #define DIALYSATE_PUMP_CONTROL_STOP                         0x00                                                    ///< Dialysate pump control stop pump.
 #define DIALYSATE_PUMP_FORWARD_DIR                          1                                                       ///< Dialysate pump forward direction. reverse direction is not allowed.
-#define DIALYSATE_PUMP_SPEED_INCREMENT                      5.0F                                                    ///< Speed increase when controlling dialysate pump to target step speed.
+#define DIALYSATE_PUMP_SPEED_INCREMENT                      10.0F                                                   ///< Speed increase when controlling dialysate pump to target step speed.
 #define ZERO_SPEED                                          0.0F                                                    ///< Zero speed/RPM value.
 
 #define DIALYSATE_PUMP_MAX_CURRENT_WHEN_OFF_A               0.1F                                                    ///< Dialysate pump maximum current when the pump is off in amps.
@@ -742,11 +743,20 @@
         {
             F32 measuredPressure    = getFilteredPressure( PRESSURE_SENSOR_FRESH_DIALYSATE );
             F32 targetPressure      = getDialysatePumpTargetPressure( pumpId );
+            F32 newSpeed            = 0;
 
-#if 0
-            F32 control = runPIController( PI_CONTROLLER_ID_FRESH_DIALYSATE_PUMP, targetPressure, measuredPressure );
+            //F32 control = runPIController( PI_CONTROLLER_ID_FRESH_DIALYSATE_PUMP, targetPressure, measuredPressure );
             // TODO : get the equivalent speed for the given control
-            F32 newSpeed =  control * ( MAX_DIALYSATE_PUMP_RPM / DIALYSATE_PUMP_MAX_PRESSURE_PSI );
+            // newSpeed =  control * ( MAX_DIALYSATE_PUMP_RPM / DIALYSATE_PUMP_MAX_PRESSURE_PSI );
+#if 0
+            if ( measuredPressure < targetPressure )
+            {
+                newSpeed = dialysatePumps[ pumpId ].currentPumpSpeed + DIALYSATE_PUMP_SPEED_INCREMENT;
+            }
+            else
+            {
+                newSpeed = dialysatePumps[ pumpId ].currentPumpSpeed - DIALYSATE_PUMP_SPEED_INCREMENT;
+            }
 
             //Apply speed limit
             newSpeed      = MIN( newSpeed, MAX_DIALYSATE_PUMP_RPM );
@@ -761,10 +771,20 @@
         {
             F32 measuredPressure    = getFilteredPressure( PRESSURE_SENSOR_SPENT_DIALYSATE );
             F32 targetPressure      = getDialysatePumpTargetPressure( pumpId );
-#if 0
-            F32 control = runPIController( PI_CONTROLLER_ID_SPENT_DIALYSATE_PUMP, targetPressure, measuredPressure );
+            F32 newSpeed            = 0;
+
+            //F32 control = runPIController( PI_CONTROLLER_ID_SPENT_DIALYSATE_PUMP, targetPressure, measuredPressure );
             // TODO : get the equivalent speed for the given control
-            F32 newSpeed =  control * ( MAX_DIALYSATE_PUMP_RPM / DIALYSATE_PUMP_MAX_PRESSURE_PSI );
+            // newSpeed =  control * ( MAX_DIALYSATE_PUMP_RPM / DIALYSATE_PUMP_MAX_PRESSURE_PSI );
+#if 0
+            if ( measuredPressure < targetPressure )
+            {
+                newSpeed = dialysatePumps[ pumpId ].currentPumpSpeed + DIALYSATE_PUMP_SPEED_INCREMENT;
+            }
+            else
+            {
+                newSpeed = dialysatePumps[ pumpId ].currentPumpSpeed - DIALYSATE_PUMP_SPEED_INCREMENT;
+            }
 
             //Apply speed limit
             newSpeed      = MIN( newSpeed, MAX_DIALYSATE_PUMP_RPM );