Index: PIControllers.h
===================================================================
diff -u -rf352febbad947e7ae4afbd9a5eaa87e434648f37 -r5d71138b70dda45a66fda6f3841392f1be55fe61
--- PIControllers.h	(.../PIControllers.h)	(revision f352febbad947e7ae4afbd9a5eaa87e434648f37)
+++ PIControllers.h	(.../PIControllers.h)	(revision 5d71138b70dda45a66fda6f3841392f1be55fe61)
@@ -64,6 +64,7 @@
     CONTROLLER_SIGNAL_ERROR_SUM_AFTER_WINDUP,       ///< Error sum after anti-windup
     CONTROLLER_SIGNAL_PROPORTIONAL_OUTPUT,          ///< P portion of controller output signal
     CONTROLLER_SIGNAL_INTEGRAL_OUTPUT,              ///< I portion of controller output signal
+    CONTROLLER_SIGNAL_FEEDFORWARD_OUTPUT,           ///< Feed forward portion of controller output signal
     CONTROLLER_SIGNAL_CONTROL,                      ///< Controller output signal
     NUM_OF_CONTROLLER_SIGNAL                        ///< Number of PI controller signals
 } PI_CONTROLLER_SIGNALS_ID;
@@ -82,8 +83,9 @@
 // ********** 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 kP, F32 kI, F32 controlMin, F32 controlMax,
+                             BOOL isFeedForwardEnabled, F32 feedFowardSignal, F32 controlInterval );
+void resetPIController( PI_CONTROLLER_ID_T controllerID, F32 initialControlSignal, F32 feedFowardSignal );
 F32 runPIController( PI_CONTROLLER_ID_T controllerID, F32 referenceSignal, F32 measuredSignal );
 F32 getPIControllerSignals( PI_CONTROLLER_ID_T controllerID, PI_CONTROLLER_SIGNALS_ID signalID );
 void setPIControllerStepLimit( PI_CONTROLLER_ID_T controllerID, F32 stepLimit );