code: def init_pid(self, kp, ki, kd):
          
          p, i, d = map(lambda x: int(x * (2 ** 16)), (kp, ki, kd))
          self._set_as_int(Addr.PConstant, p, 4)
          self._set_as_int(Addr.IConstant, i, 4)
          self._set_as_int(Addr.DConstant, d, 4)
docs: Sets the PID constants for the PID modes. Arguments are all
          floating point numbers.