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Rework PID class API #16

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Rework PID class API

Rework PID class API #16

Run time

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Job Run time
build-downstream (humble, testing) / humble testing
11m 5s
build-downstream (jazzy, testing) / jazzy testing
12m 44s
build-downstream (rolling, testing) / rolling testing
13m 5s
36m 54s