diff --git a/pid/util.cpp b/pid/util.cpp
new file mode 100644
index 0000000..79da7e1
--- /dev/null
+++ b/pid/util.cpp
@@ -0,0 +1,57 @@
+/**
+ * Copyright 2017 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <cstring>
+#include <iostream>
+
+#include "ec/pid.hpp"
+
+void InitializePIDStruct(ec::pid_info_t* info, ec::pidinfo* initial)
+{
+    std::memset(info, 0x00, sizeof(ec::pid_info_t));
+
+    info->ts = initial->ts;
+    info->p_c = initial->p_c;
+    info->i_c = initial->i_c;
+    info->ff_off = initial->ff_off;
+    info->ff_gain = initial->ff_gain;
+    info->i_lim.min = initial->i_lim.min;
+    info->i_lim.max = initial->i_lim.max;
+    info->out_lim.min = initial->out_lim.min;
+    info->out_lim.max = initial->out_lim.max;
+    info->slew_neg = initial->slew_neg;
+    info->slew_pos = initial->slew_pos;
+}
+
+void DumpPIDStruct(ec::pid_info_t *info)
+{
+    std::cerr << " ts: " << info->ts
+              << " p_c: " << info->p_c
+              << " i_c: " << info->i_c
+              << " ff_off: " << info->ff_off
+              << " ff_gain: " << info->ff_gain
+              << " i_lim.min: " << info->i_lim.min
+              << " i_lim.max: " << info->i_lim.max
+              << " out_lim.min: " << info->out_lim.min
+              << " out_lim.max: " << info->out_lim.max
+              << " slew_neg: " << info->slew_neg
+              << " slew_pos: " << info->slew_pos
+              << " last_output: " << info->last_output
+              << " integral: " << info->integral
+              << std::endl;
+
+    return;
+}