Worked on the MissouriMRDT/Autonomy_Software repository, focusing on enhancing the safety and reliability of the embedded lighting control system. Addressed a critical issue by implementing a fix that ensures the lighting panel powers off immediately during an eAbort event, regardless of the system state. This update improved the predictability and safety of abort sequences, aligning the system with operational requirements for autonomous platforms. The solution leveraged expertise in embedded systems and state machine design, using C++ to deliver robust state management. Maintained disciplined version control practices, providing traceable and well-documented changes that reduce risk during safety-critical operations.