Worked on the ECLAIR-Robotics/crackle repository to enhance audio localization timing and data acquisition for embedded systems. Focused on improving reliability and timing accuracy by addressing data gaps and non-recording issues between timestamps, ensuring stable analog read cycles aligned with CPU frequency. Utilized C++ to implement new timestamp calculation constants and added detailed code comments, supporting maintainability and future sensor fusion development. The work leveraged expertise in audio processing, microcontrollers, and real-time systems to deliver a feature that stabilizes data collection and clarifies system behavior, laying a foundation for more robust and extensible audio processing capabilities in embedded environments.