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Rework PID class API #19

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Rework PID class API

Rework PID class API #19

Run time

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Job Run time
build-downstream (humble, testing) / humble testing
5m 56s
build-downstream (jazzy, testing) / jazzy testing
6m 14s
build-downstream (rolling, testing) / rolling testing
6m 17s
18m 27s