Index: firmware/App/Services/PIControllers.h
===================================================================
diff -u -r7104ce1a12799c5a3dff10c94cb191d409bc8244 -r5e8f96e11c797bddeddfc009c87f20df3b7a8664
--- firmware/App/Services/PIControllers.h	(.../PIControllers.h)	(revision 7104ce1a12799c5a3dff10c94cb191d409bc8244)
+++ firmware/App/Services/PIControllers.h	(.../PIControllers.h)	(revision 5e8f96e11c797bddeddfc009c87f20df3b7a8664)
@@ -7,8 +7,8 @@
 *
 * @file    PIControllers.h
 *
-* @author  (last)      Dara Navaei
-* @date    (last)      02-Nov-2021
+* @author  (last)      Michael Garthwaite
+* @date    (last)      21-Nov-2022
 *
 * @author  (original)  Sean
 * @date    (original)  04-Feb-2020
@@ -53,25 +53,26 @@
     NUM_OF_CONTROLLER_SIGNAL                        ///< Number of PI controller signals
 } PI_CONTROLLER_SIGNALS_ID;
 
+/// Data structure for PI control profiles.
 typedef struct ControllerProfile
 {
-    F32 Kp;                                 ///< Proportional Value.
-    F32 Ki;                                 ///< Integral Value.
-    F32 uMin;                               ///< Minimum control signal.
-    F32 uMax;                               ///< Maximum control signal.
+    F32 Kp;                                 ///< Proportional Value
+    F32 Ki;                                 ///< Integral Value
+    F32 uMin;                               ///< Minimum control signal
+    F32 uMax;                               ///< Maximum control signal
+    F32 maxErrorSumStep;                    ///< Maximum change in I (error sum) for a single control interval.
+    U32 controlInterval;                    ///< Control interval value
 } PI_CONTROLLER_PROFILE_DATA_T;
 
-
 // ********** public function prototypes **********
 
 void initializePIController( PI_CONTROLLER_ID_T controllerID, F32 initialControlSignal,
                              F32 kP, F32 kI, F32 controlMin, F32 controlMax );
 void resetPIController( PI_CONTROLLER_ID_T controllerID, F32 initialControlSignal );
 F32 runPIController( PI_CONTROLLER_ID_T controllerID, F32 referenceSignal, F32 measuredSignal );
 F32 getPIControllerSignals( PI_CONTROLLER_ID_T controllerID, PI_CONTROLLER_SIGNALS_ID signalID );
-void setPIControlerProfile( PI_CONTROLLER_ID_T controllerID, F32 initialControlSignal, PI_CONTROLLER_PROFILE_DATA_T profile);
+void setPIControllerStepLimit( PI_CONTROLLER_ID_T controllerID, F32 stepLimit );
 
-
 /**@}*/
 
 #endif