diff --git a/src/drivers/pid_driver/155-DTM.rgb b/src/drivers/pid_driver/155-DTM.rgb
new file mode 100644
index 0000000..a670020
Binary files /dev/null and b/src/drivers/pid_driver/155-DTM.rgb differ
diff --git a/src/drivers/pid_driver/Makefile b/src/drivers/pid_driver/Makefile
new file mode 100644
index 0000000..6787298
--- /dev/null
+++ b/src/drivers/pid_driver/Makefile
@@ -0,0 +1,33 @@
+##############################################################################
+#
+#    file                 : Makefile
+#    created              : Sat Nov 4 20:28:35 CET 2017
+#    copyright            : (C) 2002 Jonas Natzer
+#
+##############################################################################
+#
+#   This program is free software; you can redistribute it and/or modify
+#   it under the terms of the GNU General Public License as published by
+#   the Free Software Foundation; either version 2 of the License, or
+#   (at your option) any later version.
+#
+##############################################################################
+
+# I need those environment variables
+# export TORCS_BASE=~/torcs-1.3.7
+# export MAKE_DEFAULT=${TORCS_BASE}/Make-default.mk
+
+ROBOT       = pid_driver
+MODULE      = ${ROBOT}.so
+MODULEDIR   = drivers/${ROBOT}
+SOURCES     = ${ROBOT}.cpp
+
+SHIPDIR     = drivers/${ROBOT}
+SHIP        = ${ROBOT}.xml 155-DTM.rgb logo.rgb
+SHIPSUBDIRS =
+
+PKGSUBDIRS  = ${SHIPSUBDIRS}
+src-robots-pid_driver_PKGFILES = $(shell find * -maxdepth 0 -type f -print)
+src-robots-pid_driver_PKGDIR   = ${PACKAGE}-${VERSION}/$(subst ${TORCS_BASE},,$(shell pwd))
+
+include ${MAKE_DEFAULT}
diff --git a/src/drivers/pid_driver/logo.rgb b/src/drivers/pid_driver/logo.rgb
new file mode 100644
index 0000000..036f1e2
Binary files /dev/null and b/src/drivers/pid_driver/logo.rgb differ
diff --git a/src/drivers/pid_driver/pid_driver.cpp b/src/drivers/pid_driver/pid_driver.cpp
new file mode 100644
index 0000000..15f327c
--- /dev/null
+++ b/src/drivers/pid_driver/pid_driver.cpp
@@ -0,0 +1,124 @@
+/***************************************************************************
+
+    file                 : pid_driver.cpp
+    created              : Sat Nov 4 20:28:35 CET 2017
+    copyright            : (C) 2002 Jonas Natzer
+
+ ***************************************************************************/
+
+/***************************************************************************
+ *                                                                         *
+ *   This program is free software; you can redistribute it and/or modify  *
+ *   it under the terms of the GNU General Public License as published by  *
+ *   the Free Software Foundation; either version 2 of the License, or     *
+ *   (at your option) any later version.                                   *
+ *                                                                         *
+ ***************************************************************************/
+
+#ifdef _WIN32
+#include <windows.h>
+#endif
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <math.h>
+
+#include <tgf.h>
+#include <track.h>
+#include <car.h>
+#include <raceman.h>
+#include <robottools.h>
+#include <robot.h>
+
+static tTrack	*curTrack;
+
+static void initTrack(int index, tTrack* track, void *carHandle, void **carParmHandle, tSituation *s);
+static void newrace(int index, tCarElt* car, tSituation *s);
+static void drive(int index, tCarElt* car, tSituation *s);
+static void endrace(int index, tCarElt *car, tSituation *s);
+static void shutdown(int index);
+static int  InitFuncPt(int index, void *pt);
+
+
+/*
+ * Module entry point
+ */
+extern "C" int
+pid_driver(tModInfo *modInfo)
+{
+    memset(modInfo, 0, 10*sizeof(tModInfo));
+
+    modInfo->name    = strdup("pid_driver");		/* name of the module (short) */
+    modInfo->desc    = strdup("");	/* description of the module (can be long) */
+    modInfo->fctInit = InitFuncPt;		/* init function */
+    modInfo->gfId    = ROB_IDENT;		/* supported framework version */
+    modInfo->index   = 1;
+
+    return 0;
+}
+
+/* Module interface initialization. */
+static int
+InitFuncPt(int index, void *pt)
+{
+    tRobotItf *itf  = (tRobotItf *)pt;
+
+    itf->rbNewTrack = initTrack; /* Give the robot the track view called */
+				 /* for every track change or new race */
+    itf->rbNewRace  = newrace; 	 /* Start a new race */
+    itf->rbDrive    = drive;	 /* Drive during race */
+    itf->rbPitCmd   = NULL;
+    itf->rbEndRace  = endrace;	 /* End of the current race */
+    itf->rbShutdown = shutdown;	 /* Called before the module is unloaded */
+    itf->index      = index; 	 /* Index used if multiple interfaces */
+    return 0;
+}
+
+/* Called for every track change or new race. */
+static void
+initTrack(int index, tTrack* track, void *carHandle, void **carParmHandle, tSituation *s)
+{
+    curTrack = track;
+    *carParmHandle = NULL;
+}
+
+/* Start a new race. */
+static void
+newrace(int index, tCarElt* car, tSituation *s)
+{
+}
+
+/* Drive during race. */
+static void
+drive(int index, tCarElt* car, tSituation *s)
+{
+    memset((void *)&car->ctrl, 0, sizeof(tCarCtrl));
+    car->ctrl.brakeCmd = 1.0; /* all brakes on ... */
+
+    float angle;
+    const float SC = 1.0;
+
+    angle = RtTrackSideTgAngleL(&(car->_trkPos)) - car->_yaw;
+    NORM_PI_PI(angle); // put the angle back in the range from -PI to PI
+    angle -= SC*car->_trkPos.toMiddle/car->_trkPos.seg->width;
+
+    // set up the values to return
+    car->ctrl.steer = angle / car->_steerLock;
+    car->ctrl.gear = 1; // first gear
+    car->ctrl.accelCmd = 0.3; // 30% accelerator pedal
+    car->ctrl.brakeCmd = 0.0; // no brakes
+}
+
+/* End of the current race */
+static void
+endrace(int index, tCarElt *car, tSituation *s)
+{
+}
+
+/* Called before the module is unloaded */
+static void
+shutdown(int index)
+{
+}
+
diff --git a/src/drivers/pid_driver/pid_driver.def b/src/drivers/pid_driver/pid_driver.def
new file mode 100644
index 0000000..f0ffcfc
--- /dev/null
+++ b/src/drivers/pid_driver/pid_driver.def
@@ -0,0 +1,19 @@
+;
+;   file                 : pid_driver.def
+;   created              : Sat Nov 4 20:28:35 CET 2017
+;   copyright            : (C) 2002 Jonas Natzer
+;
+;
+;    This program is free software; you can redistribute it and/or modify
+;    it under the terms of the GNU General Public License as published by
+;    the Free Software Foundation; either version 2 of the License, or   
+;    (at your option) any later version.                                 
+;
+
+LIBRARY	pid_driver
+
+SECTIONS .data READ WRITE
+
+EXPORTS
+	pid_driver
+
diff --git a/src/drivers/pid_driver/pid_driver.dsp b/src/drivers/pid_driver/pid_driver.dsp
new file mode 100644
index 0000000..fd624e6
--- /dev/null
+++ b/src/drivers/pid_driver/pid_driver.dsp
@@ -0,0 +1,238 @@
+# Microsoft Developer Studio Project File - Name="pid_driver" - Package Owner=<4>
+
+# Microsoft Developer Studio Generated Build File, Format Version 6.00
+
+# ** DO NOT EDIT **
+
+
+
+# TARGTYPE "Win32 (x86) Dynamic-Link Library" 0x0102
+
+
+
+CFG=pid_driver - Win32 Debug
+
+!MESSAGE This is not a valid makefile. To build this project using NMAKE,
+
+!MESSAGE use the Export Makefile command and run
+
+!MESSAGE 
+
+!MESSAGE NMAKE /f "pid_driver.mak".
+
+!MESSAGE 
+
+!MESSAGE You can specify a configuration when running NMAKE
+
+!MESSAGE by defining the macro CFG on the command line. For example:
+
+!MESSAGE 
+
+!MESSAGE NMAKE /f "pid_driver.mak" CFG="pid_driver - Win32 Debug"
+
+!MESSAGE 
+
+!MESSAGE Possible choices for configuration are:
+
+!MESSAGE 
+
+!MESSAGE "pid_driver - Win32 Release" (based on "Win32 (x86) Dynamic-Link Library")
+
+!MESSAGE "pid_driver - Win32 Debug" (based on "Win32 (x86) Dynamic-Link Library")
+
+!MESSAGE 
+
+
+
+# Begin Project
+
+# PROP AllowPerConfigDependencies 0
+
+# PROP Scc_ProjName ""
+
+# PROP Scc_LocalPath ""
+
+CPP=cl.exe
+
+MTL=midl.exe
+
+RSC=rc.exe
+
+
+
+!IF  "$(CFG)" == "pid_driver - Win32 Release"
+
+
+
+# PROP BASE Use_MFC 0
+
+# PROP BASE Use_Debug_Libraries 0
+
+# PROP BASE Output_Dir "Release"
+
+# PROP BASE Intermediate_Dir "Release"
+
+# PROP BASE Target_Dir ""
+
+# PROP Use_MFC 0
+
+# PROP Use_Debug_Libraries 0
+
+# PROP Output_Dir "Release"
+
+# PROP Intermediate_Dir "Release"
+
+# PROP Ignore_Export_Lib 1
+
+# PROP Target_Dir ""
+
+# ADD BASE CPP /nologo /MT /W3 /GX /O2 /D "WIN32" /D "NDEBUG" /D "_WINDOWS" /D "_MBCS" /D "_USRDLL" /D "PID_DRIVER_EXPORTS" /YX /FD /c
+
+# ADD CPP /nologo /G5 /W3 /GX /O2 /I "../../../export/include" /I "../../windows/include" /D "WIN32" /D "NDEBUG" /D "_WINDOWS" /D "_MBCS" /D "_USRDLL" /D "PID_DRIVER_EXPORTS" /YX /FD /c
+
+# ADD BASE MTL /nologo /D "NDEBUG" /mktyplib203 /win32
+
+# ADD MTL /nologo /D "NDEBUG" /mktyplib203 /win32
+
+# ADD BASE RSC /l 0x40c /d "NDEBUG"
+
+# ADD RSC /l 0x40c /d "NDEBUG"
+
+BSC32=bscmake.exe
+
+# ADD BASE BSC32 /nologo
+
+# ADD BSC32 /nologo
+
+LINK32=link.exe
+
+# ADD BASE LINK32 kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /dll /machine:I386
+
+# ADD LINK32 tgf.lib robottools.lib sg.lib ul.lib /nologo /dll /map /machine:I386 /nodefaultlib:"LIBCD" /libpath:"../../../export/lib" /libpath:"../../windows/lib"
+
+# Begin Special Build Tool
+
+WkspDir=.
+
+TargetDir=.\Release
+
+SOURCE="$(InputPath)"
+
+PostBuild_Cmds=copy $(TargetDir)\*.dll $(WkspDir)\runtime\drivers\pid_driver
+
+# End Special Build Tool
+
+
+
+!ELSEIF  "$(CFG)" == "pid_driver - Win32 Debug"
+
+
+
+# PROP BASE Use_MFC 0
+
+# PROP BASE Use_Debug_Libraries 1
+
+# PROP BASE Output_Dir "Debug"
+
+# PROP BASE Intermediate_Dir "Debug"
+
+# PROP BASE Target_Dir ""
+
+# PROP Use_MFC 0
+
+# PROP Use_Debug_Libraries 1
+
+# PROP Output_Dir "Debug"
+
+# PROP Intermediate_Dir "Debug"
+
+# PROP Ignore_Export_Lib 1
+
+# PROP Target_Dir ""
+
+# ADD BASE CPP /nologo /MTd /W3 /Gm /GX /ZI /Od /D "WIN32" /D "_DEBUG" /D "_WINDOWS" /D "_MBCS" /D "_USRDLL" /D "PID_DRIVER_EXPORTS" /YX /FD /GZ /c
+
+# ADD CPP /nologo /G5 /W3 /Gm /GX /ZI /Od /I "../../../export/include" /I "../../windows/include" /D "WIN32" /D "_DEBUG" /D "_WINDOWS" /D "_MBCS" /D "_USRDLL" /D "PID_DRIVER_EXPORTS" /YX /FD /GZ /c
+
+# ADD BASE MTL /nologo /D "_DEBUG" /mktyplib203 /win32
+
+# ADD MTL /nologo /D "_DEBUG" /mktyplib203 /win32
+
+# ADD BASE RSC /l 0x40c /d "_DEBUG"
+
+# ADD RSC /l 0x40c /d "_DEBUG"
+
+BSC32=bscmake.exe
+
+# ADD BASE BSC32 /nologo
+
+# ADD BSC32 /nologo
+
+LINK32=link.exe
+
+# ADD BASE LINK32 kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /dll /debug /machine:I386 /pdbtype:sept
+
+# ADD LINK32 robottools.lib kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib sg.lib ul.lib /nologo /dll /map /debug /machine:I386 /pdbtype:sept /libpath:"../../../export/libd" /libpath:"../../windows/lib"
+
+# Begin Special Build Tool
+
+WkspDir=.
+
+TargetDir=.\Debug
+
+SOURCE="$(InputPath)"
+
+PostBuild_Cmds=copy $(TargetDir)\*.dll $(WkspDir)\runtimed\drivers\pid_driver
+
+# End Special Build Tool
+
+
+
+!ENDIF 
+
+
+
+# Begin Target
+
+
+
+# Name "pid_driver - Win32 Release"
+
+# Name "pid_driver - Win32 Debug"
+
+# Begin Group "Source Files"
+
+
+
+# PROP Default_Filter "cpp;c;cxx;rc;def;r;odl;idl;hpj;bat"
+
+# Begin Source File
+
+
+
+SOURCE=.\pid_driver.cpp
+
+# End Source File
+
+# Begin Source File
+
+
+
+SOURCE=.\pid_driver.def
+
+# End Source File
+
+# End Group
+
+# Begin Group "Header Files"
+
+
+
+# PROP Default_Filter "h;hpp;hxx;hm;inl"
+
+# End Group
+
+# End Target
+
+# End Project
+
diff --git a/src/drivers/pid_driver/pid_driver.xml b/src/drivers/pid_driver/pid_driver.xml
new file mode 100644
index 0000000..ab0739c
--- /dev/null
+++ b/src/drivers/pid_driver/pid_driver.xml
@@ -0,0 +1,31 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!--
+    file                 : pid_driver.xml
+    created              : Sat Nov 4 20:28:35 CET 2017
+    copyright            : (C) 2002 Jonas Natzer
+-->
+
+<!--    This program is free software; you can redistribute it and/or modify  -->
+<!--    it under the terms of the GNU General Public License as published by  -->
+<!--    the Free Software Foundation; either version 2 of the License, or     -->
+<!--    (at your option) any later version.                                   -->
+
+<!DOCTYPE params SYSTEM "../../libs/tgf/params.dtd">
+<params name="pid_driver" type="robotdef">
+  <section name="Robots">
+    <section name="index">
+      <section name="1">
+	<attstr name="name" val="pid_driver"></attstr>
+	<attstr name="desc" val=""></attstr>
+	<attstr name="team" val=""></attstr>
+	<attstr name="author" val="Jonas Natzer"></attstr>
+	<attstr name="car name" val="155-DTM"></attstr>
+	<attstr name="category" val="Track-4WD-GrB"></attstr>
+	<attnum name="race number" val="0"></attnum>
+	<attnum name="red" val="1.0"></attnum>
+	<attnum name="green" val="1.0"></attnum>
+	<attnum name="blue" val="1.0"></attnum>
+      </section>
+    </section>
+  </section>
+</params>