During January 2025, Ermo developed a Cruise Control System for the solarcaratuva/Rivanna3 repository, focusing on reliable speed regulation for embedded automotive applications. Leveraging C++ and expertise in CAN Bus and real-time control systems, Ermo implemented a PID-based algorithm to maintain target speed, with automatic disengagement triggered by faults or braking events. The system featured a deterministic 10 ms control loop, achieved through precise scheduling of motor frame updates and hardware-driven enable logic. By capitalizing constants and aligning timing references, Ermo improved code maintainability and readability, laying a solid foundation for future enhancements and hardware-in-the-loop testing within embedded environments.