copy pasta code from PID lab
Merge branch 'master' of https://github.com/lianilychee/POE_prosthetics
Merge branch 'master' of https://github.com/lianilychee/POE_prosthetics
Merge branch 'master' of https://github.com/lianilychee/POE_prosthetics
Merge branch 'master' of https://github.com/lianilychee/POE_prosthetics
docstring added