Worked on the FRC900/900RobotCode repository to enhance the reliability and maintainability of the AlignAndPlace workflow and LED signaling for robotics applications. Addressed a feedback reception issue by updating the ROS subscriber topic, ensuring accurate communication between components during autonomous operations. Refactored the LED indicator state machine in Python to better represent autonomous, alignment, and intake modes, improving clarity in state transitions and system feedback. Leveraged skills in embedded systems, ROS, and Python to streamline state management and callback handling. These updates contributed to smoother autonomous behavior and enabled faster development cycles by clarifying system responses and reducing ambiguity in feedback.