Key features delivered: Arm and Elevator Control Refactor with tuning, new load/spit game piece commands, updated PID gains, tolerances, and setpoints; enhanced LED state indicators for intaking, holding a piece, and disabled. Major bugs fixed: Removed an erroneous import, contributing to cleaner builds and more reliable runtime behavior. Overall impact and accomplishments: Improved control stability and responsiveness of the arm/elevator system, smoother game-piece handling, and clearer operator feedback, enabling more reliable competition-ready operation. Technologies/skills demonstrated: PID tuning and tuning iteration, subsystem refactor within a command-based architecture, hardware-software integration (LED feedback), and code cleanup for maintainability.