Angus contributed to the thedropbears/pyreefscape repository by developing targeted control system features for robotics applications. Over two months, he enhanced the wrist mechanism’s precision and responsiveness by adjusting gear ratios, motor direction, and feedforward gains, as well as refining PID parameters and mechanical limits to reduce latency and overshoot. In a subsequent update, Angus implemented swerve module neutral mode safety controls, introducing user-facing APIs to toggle between BRAKE and COAST modes, improving operational safety during teleoperation and state transitions. His work demonstrated depth in embedded systems and robotics, leveraging Python to deliver robust, maintainable control enhancements without introducing regressions.