Richard Cunningham enhanced device control reliability in the DiamondLightSource/dodal repository by implementing an idle-state wait mechanism for the BimorphMirror hardware. After setting target voltages, the device now waits for an IDLE status before proceeding, reducing operational risk and improving deterministic behavior. Richard updated the asynchronous Python control logic and corresponding EPICS-based tests to ensure the new waiting behavior is accurately reflected, preventing premature state transitions. This work deepened the robustness of the hardware control loop and improved overall uptime. The focused enhancement demonstrates careful attention to device safety and reliability, leveraging asynchronous programming and thorough testing practices throughout development.