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Rework PID class API #135

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Rework PID class API

Rework PID class API #135

Run time

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Job Run time
semi-binary (humble, testing) / humble testing
3m 41s
semi-binary (jazzy, testing) / jazzy testing
4m 5s
semi-binary (rolling, testing) / rolling testing
3m 52s
11m 38s