Developed a multi-mode elevator control system for the Team-4536/FRC-2025 repository, focusing on robust mode switching and enhanced telemetry for robotics applications. The work involved refactoring control logic to use an explicit elevator mode enum, which improved the reliability of transitions between manual, position, and velocity control. Implemented dead-zone smoothing and mode toggling to reduce jitter and enhance user experience, while updating PID configurations to ensure stability across all modes. Introduced a dedicated debug telemetry mode for targeted data logging, accelerating diagnostics and future tuning. Leveraged skills in Python, control systems, and embedded systems to deliver safer, more observable operation.