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Rework PID class API #31

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Rework PID class API

Rework PID class API #31

Run time

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Job Run time
build-downstream (humble, testing) / humble testing
9m 48s
build-downstream (jazzy, testing) / jazzy testing
13m 51s
build-downstream (rolling, testing) / rolling testing
14m 24s
38m 3s