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Rework PID class API #27

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Rework PID class API

Rework PID class API #27

Run time

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Job Run time
build-downstream (humble, testing) / humble testing
6m 28s
build-downstream (jazzy, testing) / jazzy testing
7m 20s
build-downstream (rolling, testing) / rolling testing
7m 3s
20m 51s