Worked on the nerdherd/Reefscape2025 repository to enhance the precision and reliability of the pivot system by integrating a new feedback sensor and updating the pivot mechanism. The approach involved aligning both hardware and software, including updating motor IDs and refactoring constants and subsystem configurations to accommodate hardware changes. Using Java and embedded systems expertise, the developer focused on improving the control loop’s accuracy, which is essential for reliable autonomous operation in robotics applications. The work emphasized maintainability and future extensibility, resulting in a more robust hardware-software integration and preparing the updated pivot system for production deployment in Reefscape environments.