Developed a robust Elevation Subsystem for the 2202Programming/PriorBots repository, focusing on precise actuator height control within a robotics context. The work centered on integrating hardware components such as the CANSparkMax motor controller and AnalogInput sensors, leveraging Java to implement PID-based algorithms for accurate linear positioning. Core APIs were created to set actuator angles, compute height from voltage readings, and manage motor speed, enabling reliable and automated height adjustment. The subsystem was designed to support higher-level automation workflows, demonstrating depth in control systems and embedded systems engineering while laying a foundation for future robotics feature expansion within the project.