Developed a real-time swerve drive debugging command for the Team488/SeriouslyCommonLib repository, enabling gamepad-based control to streamline testing and tuning of robotic drive systems. Leveraged Java and the command design pattern to integrate the new DebugSwerveModuleCommand into the existing OperatorInterface and Factory mapping, consolidating the debugging workflow for greater efficiency. The work included removing obsolete factory references and related boilerplate, resulting in a cleaner, more maintainable codebase. This focused update aligned with the project’s command-based architecture, improving testing turnaround and reducing maintenance overhead while demonstrating a methodical approach to robotics software development and codebase refinement.