Index: PIDControllers.h
===================================================================
diff -u -r0ead56df33c1583486ca3a8f8eeeeadfa5f11eb5 -raa6bdd3bfc3bd8bc1a56670c2bdadc32c99b33c3
--- PIDControllers.h	(.../PIDControllers.h)	(revision 0ead56df33c1583486ca3a8f8eeeeadfa5f11eb5)
+++ PIDControllers.h	(.../PIDControllers.h)	(revision aa6bdd3bfc3bd8bc1a56670c2bdadc32c99b33c3)
@@ -36,7 +36,7 @@
 // ********** public definitions **********
 
 /// Enumeration of PID controllers.
-typedef enum ControllerList
+typedef enum ControllerListPID
 {
 #ifdef _TD_
     PID_CONTROLLER_ID_BLOOD_FLOW,                    ///< Blood pump controller to target flow rate
@@ -48,20 +48,20 @@
 } PID_CONTROLLER_ID_T;
 
 /// Enumeration of PI controller signals.
-typedef enum ControllerSignals
+typedef enum ControllerSignalsPID
 {
-    CONTROLLER_SIGNAL_REFERENCE = 0,                ///< Reference value
-    CONTROLLER_SIGNAL_MEASURED,                     ///< Measured value
-    CONTROLLER_SIGNAL_ERROR,                        ///< Error value
-    CONTROLLER_SIGNAL_ERROR_SUM,                    ///< Error sum before anti-windup
-    CONTROLLER_SIGNAL_ERROR_SUM_AFTER_WINDUP,       ///< Error sum after anti-windup
-    CONTROLLER_SIGNAL_ERROR_PREVIOUS,               ///< Previous error signal
-    CONTROLLER_SIGNAL_PROPORTIONAL_OUTPUT,          ///< P portion of controller output signal
-    CONTROLLER_SIGNAL_INTEGRAL_OUTPUT,              ///< I portion of controller output signal
-    CONTROLLER_SIGNAL_DERIVATIVE_OUTPUT,            ///< D 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
+    CONTROLLER_SIGNAL_PID_REFERENCE = 0,                ///< Reference value
+    CONTROLLER_SIGNAL_PID_MEASURED,                     ///< Measured value
+    CONTROLLER_SIGNAL_PID_ERROR,                        ///< Error value
+    CONTROLLER_SIGNAL_PID_ERROR_SUM,                    ///< Error sum before anti-windup
+    CONTROLLER_SIGNAL_PID_ERROR_SUM_AFTER_WINDUP,       ///< Error sum after anti-windup
+    CONTROLLER_SIGNAL_PID_ERROR_PREVIOUS,               ///< Previous error signal
+    CONTROLLER_SIGNAL_PID_PROPORTIONAL_OUTPUT,          ///< P portion of controller output signal
+    CONTROLLER_SIGNAL_PID_INTEGRAL_OUTPUT,              ///< I portion of controller output signal
+    CONTROLLER_SIGNAL_PID_DERIVATIVE_OUTPUT,            ///< D portion of controller output signal.
+    CONTROLLER_SIGNAL_PID_FEEDFORWARD_OUTPUT,           ///< Feed forward portion of controller output signal
+    CONTROLLER_SIGNAL_PID_CONTROL,                      ///< Controller output signal
+    NUM_OF_CONTROLLER_SIGNAL_PID                        ///< Number of PI controller signals
 } PID_CONTROLLER_SIGNALS_ID;
 
 /// Data structure for PI control profiles.
@@ -79,7 +79,7 @@
 // ********** public function prototypes **********
 
 void initializePIDController( PID_CONTROLLER_ID_T controllerID, F32 initialControlSignal,
-                             F32 kP, F32 kI, F32 controlMin, F32 controlMax,
+                             F32 kP, F32 kI, F32 kD, F32 controlMin, F32 controlMax,
                              BOOL isFeedForwardEnabled, F32 feedFowardSignal );
 void resetPIDController( PID_CONTROLLER_ID_T controllerID, F32 initialControlSignal, F32 feedFowardSignal );
 F32 runPIDController( PID_CONTROLLER_ID_T controllerID, F32 referenceSignal, F32 measuredSignal );