Function pamoja_pid_new_with_limits 

#[unsafe(no_mangle)]
pub unsafe extern "C" fn pamoja_pid_new_with_limits(
    kp: f32,
    ki: f32,
    kd: f32,
    min: f32,
    max: f32,
) -> *mut PamojaPid

Creates a PID controller whose output is clamped to [min, max].

Returns

A handle the caller must release with pamoja_pid_free.

Safety

The returned handle must be freed exactly once.