Worked on the SoonerRobotics/autonav_software_2025 repository to enhance autonomous navigation by addressing velocity telemetry accuracy in the swerve module. Focused on correcting speed measurement, the developer implemented a conversion-factor-based calculation that incorporates both the drive motor gear ratio and wheel radius, ensuring meters-per-second readings reflect true vehicle speed. This update involved modifying swerve_module.py and validating the changes through targeted commits, resulting in improved control stability and reduced navigation drift. Leveraging expertise in Python, control systems, and embedded systems, the work contributed to more reliable path tracking and overall system performance, with efforts concentrated on bug resolution and telemetry precision.