Richard Cunningham enhanced device control reliability in the DiamondLightSource/dodal repository by implementing an idle-state wait for the BimorphMirror hardware. After setting target voltages, the control logic now asynchronously waits for the device to reach an IDLE status, reducing operational risk and improving deterministic behavior. He updated the associated test suite to accurately reflect this new waiting mechanism, ensuring robust coverage and preventing premature state transitions. Working primarily in Python and leveraging asynchronous programming and EPICS, Richard delivered a focused, reliability-driven feature that deepened the control loop’s safety and uptime, demonstrating careful attention to both device behavior and test integrity.