Worked on the Team302/2025Reefscape robotics project, focusing on improving data correctness and reliability in embedded systems using C++. Addressed two critical bugs by refactoring data access to use direct getters and ensuring accurate chassis configuration retrieval, which improved the accuracy of swerve chassis data. Simplified robot state management by consolidating state transitions and cleaning up autonomous command scheduling, reducing the risk of state-related bugs during mode changes between Teleop and Autonomous. These changes enhanced maintainability and made debugging more efficient, resulting in more predictable robot behavior. The work demonstrated a methodical approach to reliability and maintainable state management in robotics.