text: from selfdrive.controls.lib.pid import PIController
  from selfdrive.controls.lib.drive_helpers import get_steer_max
  from cereal import car
  from cereal import log
  
  
  class LatControlPID():
    def __init__(self, CP):
      self.pid = PIController((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),
                              (CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
                              k_f=CP.lateralTuning.pid.kf, pos_limit=1.0, sat_limit=CP.steerLimitTimer)
      self.angle_steers_des = 0.
  
    def reset(self):
      self.pid.reset()
  
    def update(self, active, CS, CP, path_plan):
      pid_log = log.ControlsState.LateralPIDState.new_message()
      pid_log.steerAngle = float(CS.steeringAngle)
      pid_log.steerRate = float(CS.steeringRate)
  
      if CS.vEgo < 0.3 or not active:
        output_steer = 0.0
        pid_log.active = False
        self.pid.reset()
      else:
        self.angle_steers_des = path_plan.angleSteers  # get from MPC/PathPlanner
  
        steers_max = get_steer_max(CP, CS.vEgo)
        self.pid.pos_limit = steers_max
        self.pid.neg_limit = -steers_max
        steer_feedforward = self.angle_steers_des   # feedforward desired angle
        if CP.steerControlType == car.CarParams.SteerControlType.torque:
          # TODO: feedforward something based on path_plan.rateSteers
          steer_feedforward -= path_plan.angleOffset   # subtract the offset, since it does not contribute to resistive torque
          steer_feedforward *= CS.vEgo**2  # proportional to realigning tire momentum (~ lateral accel)
        deadzone = 0.0
  
        check_saturation = (CS.vEgo > 10) and not CS.steeringRateLimited and not CS.steeringPressed
        output_steer = self.pid.update(self.angle_steers_des, CS.steeringAngle, check_saturation=check_saturation, override=CS.steeringPressed,
                                       feedforward=steer_feedforward, speed=CS.vEgo, deadzone=deadzone)
        pid_log.active = True
        pid_log.p = self.pid.p
        pid_log.i = self.pid.i
        pid_log.f = self.pid.f
        pid_log.output = output_steer
        pid_log.saturated = bool(self.pid.saturated)
  
      return output_steer, float(self.angle_steers_des), pid_log
  