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Rework PID class API #104

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Rework PID class API

Rework PID class API #104

Run time

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Job Run time
semi-binary (humble, testing) / humble testing
4m 12s
semi-binary (jazzy, testing) / jazzy testing
5m 10s
semi-binary (rolling, testing) / rolling testing
5m 6s
14m 28s