Worked on the firebots-software/2025-reefscape repository to restore reliable motor communication in a robotic system by addressing a critical bug affecting five subsystems, including pivot, flywheel, tootsie slide, funnel, and elevator. Used Java to correct CAN ID mappings and motor port assignments, ensuring accurate end-to-end motor control and reducing the risk of subsystem miscommunication during automated operation. Applied embedded systems and robot configuration expertise to validate the updated mappings, which improved system reliability and safety during testing. Documented the changes to support future maintenance and onboarding, laying the groundwork for upcoming feature development and more efficient test cycles.