diff --git a/PID.py b/PID.py
new file mode 100644
--- /dev/null
+++ b/PID.py
@@ -0,0 +1,73 @@
+import time
+
+class PID:
+
+    def __init__(self, setpoint = 0):
+        
+        self.setpoint = float(setpoint)
+        
+        self.Kp = 0
+        self.Ki = 0
+        self.Kd = 0
+        
+        self.min_out = 0
+        self.max_out = 1000
+        
+        self.Reset()
+        
+    def SetMin(self, min_out):
+        self.min_out = min_out
+        
+    def SetMax(self, max_out):
+        self.max_out = max_out
+    
+    def SetSetpoint(self, setpoint):
+        self.setpoint = float(setpoint)
+
+    def SetKp(self, Kp):
+        self.Kp = float(Kp)
+
+    def SetKi(self, Ki):
+        self.Ki = float(Ki)
+
+    def SetKd(self, Kd):
+        self.Kd = float(Kd)
+
+    def Reset(self):
+        
+        self.current_time = time.time()
+        self.last_time = self.current_time
+
+        self.last_error = 0
+        
+        self.Cp = 0
+        self.Ci = 0
+        self.Cd = 0
+
+    def Update(self, value):
+        
+        print("PID input: " + str(value))
+        
+        error = self.setpoint - value
+        self.current_time = time.time()
+        dt = self.current_time - self.last_time
+        de = error - self.last_error
+        
+        self.Cp = self.Kp * error
+        self.Ci += error * dt
+        
+        self.Cd = 0
+        if dt > 0:
+            self.Cd = de/dt
+        
+        self.last_time = self.current_time
+        self.last_error = error
+        
+        output = self.Cp + (self.Ki * self.Ci) + (self.Kd * self.Cd)
+        if output > self.max_out:
+            output = self.max_out
+        if output < self.min_out:
+            output = self.min_out
+        
+        print("PID output: " + str(output))
+        return output