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Rework PID class API #98

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Rework PID class API

Rework PID class API #98

Run time

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Job Run time
semi-binary (jazzy, testing) / jazzy testing
4m 4s
semi-binary (humble, testing) / humble testing
4m 14s
semi-binary (rolling, testing) / rolling testing
4m 0s
12m 18s