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+'''HARIOMHARIBOLJAIMATAJIPITAJIKIJAIJAI'''%0A#Developed by Mark Tomczak (fixermark@gmail.com)%0A#Python class to calculate PID values%0A%0A%0Aclass PIDController:%0A    def __init__(self, P, I, D):%0A        self.KP = P%0A        self.KI = I%0A        self.KD = D%0A        self.target = 0%0A%0A        self.lastError = 0%0A        self.integrator = 0%0A%0A    def setTarget(self, newTarget):%0A        self.target = newTarget%0A        self.integrator = 0%0A%0A    def step(self, currentValue):%0A        error = currentValue - self.target%0A%0A        output = (self.KP * error + self.KI * self.integrator + self.KD * (error - self.lastError))%0A%0A        self.lastError = error%0A        self.integrator += error%0A%0A        return output%0A%0A%0A%0A

Create pidcontroller.py