PI controller with feedforward component init_controller(rate: float, min: float, max: float): PIControl set_gain(control: var PIControl, kp: float, ki: float, kf: float): void clear_gain(control: var PIControl): void pause_i(control: var PIControl): void resume_i(control: var PIControl): void update(control: var PIControl, sp: float, pv: float, f: float = 0.0): float
