Worked on the DiamondLightSource/dodal repository to enhance the reliability of BimorphMirror device control by implementing an idle-state wait after setting target voltages. This approach ensured that the device consistently reached a safe and deterministic state before proceeding, reducing operational risk and improving hardware uptime. The update required careful integration with asynchronous programming patterns and EPICS-based device control, as well as comprehensive adjustments to the existing test suite to accurately reflect the new waiting behavior. All changes were developed in Python, with a focus on robust testing practices to maintain coverage and ensure the reliability of the updated control loop.