diff --git a/drivers/pid_controller/pidcontroller.py b/drivers/pid_controller/pidcontroller.py
index 34f4e49603d7721286a1b15aea88cac531338588..262aa487ecbb853d316cd048cd6d70ff4f833938 100644
--- a/drivers/pid_controller/pidcontroller.py
+++ b/drivers/pid_controller/pidcontroller.py
@@ -21,13 +21,106 @@ class PidController:
             self.ser = None
             print(f"Failed to open Serial Port {self.port}.")
     
+    def reconnect(self):
+        try:
+            self.ser = serial.Serial(self.port, baudrate=9600, timeout=2)
+            self.connected = True
+        except:
+            self.ser = None
+            print(f"Failed to open Serial Port {self.port}.")
+            self.connected = False
+
+
     def disconnect(self):
         self.ser.close()
     
     def _sendCommand(self, command):
-        self.ser.write(command.encode())
+        try:
+            self.ser.write(command.encode())
+        except:
+            print(f"Serial port {self.port} is not open.")
+            return ""
         time.sleep(0.5)
         text = ""
         while(self.ser.in_waiting):
             text += self.ser.read().decode()
-        return text
\ No newline at end of file
+        return text
+    
+    def getTemperatures(self):
+        text = self._sendCommand('t')
+        if(text == '!'):
+            return '!'
+        texts = text.split(',')
+        temps = []
+        for t in texts:
+            if t[-1] == ';':
+                temps.append(float(t[:-1]))
+            else:
+                temps.append(float(t))
+        return temps
+    
+    def getPidCoeff(self):
+        text = self._sendCommand('p')
+        if(text == '!'):
+            return '!'
+        texts = text.split(',')
+        coeffs = []
+        for t in texts:
+            if t[-1] == ';':
+                coeffs.append(float(t[:-1]))
+            else:
+                coeffs.append(float(t))
+        return coeffs
+    
+    def getPropIntDer(self):
+        text = self._sendCommand('v')
+        if(text == '!'):
+            return '!'
+        texts = text.split(',')
+        prinde = []
+        for t in texts:
+            if t[-1] == ';':
+                prinde.append(float(t[:-1]))
+            else:
+                prinde.append(float(t))
+        return prinde
+
+    def getOutput(self):
+        text = self._sendCommand('o')
+        if(text == '!'):
+            return '!'
+        return float(text[:-1])
+
+    def getSetpoint(self):
+        text = self._sendCommand('s')
+        if(text == '!'):
+            return '!'
+        return float(text[:-1])
+
+    def setP(self, pval):
+        text = self._sendCommand(f'P{pval};')
+        return text
+
+    def setI(self, ival):
+        text = self._sendCommand(f'I{ival};')
+        return text
+
+    def setD(self, dval):
+        text = self._sendCommand(f'D{dval};')
+        return text
+
+    def setIntegral(self, integral):
+        text = self._sendCommand(f'N{integral};')
+        return text
+
+    def setTemperature(self, temperature):
+        text = self._sendCommand(f'S{temperature};')
+        return text
+
+    def setIntResErr(self, errThresh):
+        text = self._sendCommand(f'E{errThresh};')
+        return text
+    
+    def nop(self):
+        text = self._sendCommand(f'?')
+        return text