Worked on enhancing the climb subsystem in the StuyPulse/Aunt-Mary repository, focusing on improving autonomous climb reliability and precision. Refactored the subsystem to use Rotation2d for angle representation, aligning it with navigation components and increasing control accuracy. Introduced end and isFinished control flow to the ClimbDriveToAngle command, which improved the reliability of autonomous climb sequences. Added a configurable angle tolerance to balance precision and responsiveness, reducing overshoot and oscillations during operation. The work leveraged Java and command-based framework principles, emphasizing subsystem design and robust robot control. No bugs were fixed during this period, with efforts concentrated on feature development.