Worked on the thedropbears/pyreefscape repository, delivering two targeted control system features over two months. Focused on enhancing the wrist mechanism, the developer refined gear ratios, motor direction, and feedforward gains, while tuning PID parameters and mechanical limits to improve precision and responsiveness for robotic payload manipulation. In the following month, they 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. All work was completed in Python, leveraging expertise in control systems, embedded systems, and robotics to deliver robust, maintainable hardware control improvements.