Elisha Chi developed a feature for the CougarProgramming623/reefscape repository focused on enhancing robot localization and navigation. Using Java and applying robotics subsystem development skills, Elisha implemented a method within the Drivetrain subsystem to identify the nearest AprilTag in the environment. This closestAprilTag method enables the robot to perform more reliable tag-based localization, directly improving autonomous navigation capabilities. The work addressed the challenge of precise environmental awareness by integrating AprilTag detection into the drivetrain logic. Over the course of the month, Elisha’s contribution demonstrated depth in robotics software engineering, with a targeted solution that improved the system’s environmental interaction.