Theodore Zhang developed OSCC-based vehicle control and safety enhancements for the WATonomous/wato_monorepo repository, focusing on robust integration of arming, throttle, brake, and steering systems. Using C++, CMake, and ROS, he consolidated OSCC interfacing and implemented API error handling to improve reliability. He added callbacks for brake, throttle, steering, and fault reports, enabling better fault detection and response. Theodore refactored the joystick interface to align with OSCC, introduced a new launch configuration, and removed legacy code, streamlining deployment. He also updated the testing framework and build infrastructure, enhancing validation and maintainability for autonomous vehicle control features.