Ben Elliott developed a real-time motor health monitoring feature for the frc2423/2025 robotics repository, focusing on the Intake subsystem. He implemented a stall detection mechanism in Java that compares the intake motor’s current velocity to its target speed, enabling the system to identify when the motor is stalled. This status was integrated into the SmartDashboard, allowing operators to monitor motor health during operation and respond proactively to issues. Ben’s work in embedded systems and robotics positioned the project for easier threshold tuning and future enhancements, demonstrating a methodical approach to reliability and maintainability, though the scope was limited to one feature.