Index: PIDControllers.c
===================================================================
diff -u -r0ead56df33c1583486ca3a8f8eeeeadfa5f11eb5 -raa6bdd3bfc3bd8bc1a56670c2bdadc32c99b33c3
--- PIDControllers.c	(.../PIDControllers.c)	(revision 0ead56df33c1583486ca3a8f8eeeeadfa5f11eb5)
+++ PIDControllers.c	(.../PIDControllers.c)	(revision aa6bdd3bfc3bd8bc1a56670c2bdadc32c99b33c3)
@@ -116,7 +116,7 @@
         controller->uMin = controlMin;
         controller->uMax = controlMax;
         controller->isFeedForwardEnabled = isFeedForwardEnabled;
-        resetPIController( controllerID, initialControlSignal, feedFowardSignal );
+        resetPIDController( controllerID, initialControlSignal, feedFowardSignal );
     }
     else
     {
@@ -294,47 +294,47 @@
 
         switch( signalID )
         {
-            case CONTROLLER_SIGNAL_REFERENCE:
+            case CONTROLLER_SIGNAL_PID_REFERENCE:
                 output = controller->referenceSignal;
                 break;
 
-            case CONTROLLER_SIGNAL_MEASURED:
+            case CONTROLLER_SIGNAL_PID_MEASURED:
                 output = controller->measuredSignal;
                 break;
 
-            case CONTROLLER_SIGNAL_ERROR:
+            case CONTROLLER_SIGNAL_PID_ERROR:
                 output = controller->errorSignal;
                 break;
 
-            case CONTROLLER_SIGNAL_ERROR_SUM:
+            case CONTROLLER_SIGNAL_PID_ERROR_SUM:
                 output = controller->errorSumBeforeWindUp;
                 break;
 
-            case CONTROLLER_SIGNAL_ERROR_SUM_AFTER_WINDUP:
+            case CONTROLLER_SIGNAL_PID_ERROR_SUM_AFTER_WINDUP:
                 output = controller->errorSum;
                 break;
 
-            case CONTROLLER_SIGNAL_PROPORTIONAL_OUTPUT:
+            case CONTROLLER_SIGNAL_PID_PROPORTIONAL_OUTPUT:
                 output = controller->Kp * controller->errorSignal;
                 break;
 
-            case CONTROLLER_SIGNAL_INTEGRAL_OUTPUT:
+            case CONTROLLER_SIGNAL_PID_INTEGRAL_OUTPUT:
                 output = controller->Ki * controller->errorSum;
                 break;
 
-            case CONTROLLER_SIGNAL_FEEDFORWARD_OUTPUT:
+            case CONTROLLER_SIGNAL_PID_FEEDFORWARD_OUTPUT:
                  output = controller->feedForward;
                  break;
 
-            case CONTROLLER_SIGNAL_CONTROL:
+            case CONTROLLER_SIGNAL_PID_CONTROL:
                 output = controller->controlSignal;
                 break;
 
-            case CONTROLLER_SIGNAL_ERROR_PREVIOUS:
+            case CONTROLLER_SIGNAL_PID_ERROR_PREVIOUS:
                 output = controller->errorPrevious;
                 break;
 
-            case CONTROLLER_SIGNAL_DERIVATIVE_OUTPUT:
+            case CONTROLLER_SIGNAL_PID_DERIVATIVE_OUTPUT:
                 output = controller->Kd * ( controller->errorSignal - controller->errorPrevious );
 
             default: