diff --git a/infrastructure/event_dispatcher/pid.py b/infrastructure/event_dispatcher/pid.py
deleted file mode 100644
index 1e418eee..00000000
--- a/infrastructure/event_dispatcher/pid.py
+++ /dev/null
@@ -1,52 +0,0 @@
-import numpy as np
-
-
-def softmax(x):
-    e_x = np.exp(x - np.max(x))
-    return e_x / e_x.sum(axis=0)
-
-
-class PID:
-    def __init__(
-        self,
-        num_groups: int,
-        kp: float = 0.3,
-        ki: float = 0.6,
-        kd: float = 0.1,
-        learning_rate: float = 0.001,
-        decay_rate: float = 0.99,
-    ):
-        self.kp = np.ones(num_groups) * kp
-        self.ki = np.ones(num_groups) * ki
-        self.kd = np.ones(num_groups) * kd
-
-        self.integral_errors = np.zeros(num_groups)
-        self.previous_errors = np.zeros(num_groups)
-
-        self.learning_rate = learning_rate
-        self.decay_rate = decay_rate
-
-    def update(self, errors: np.ndarray):
-        control_outputs = np.zeros_like(errors)
-
-        for i, error in enumerate(errors):
-            self.integral_errors[i] += error
-            derivative = error - self.previous_errors[i]
-
-            self.kp[i] = np.clip(self.kp[i] + self.learning_rate * error, 0, 1)
-            self.ki[i] = np.clip(
-                self.ki[i] + self.learning_rate * self.integral_errors[i], 0, 1
-            )
-            self.kd[i] = np.clip(self.kd[i] + self.learning_rate * derivative, 0, 1)
-
-            control_outputs[i] = (
-                self.kp[i] * error
-                + self.ki[i] * self.integral_errors[i]
-                + self.kd[i] * derivative
-            )
-
-            self.previous_errors[i] = error
-
-        self.learning_rate *= self.decay_rate
-
-        return control_outputs