Worked on the FRC5188/ReefCode repository to enhance desktop development workflows and improve path planning reliability for robotics projects. Enabled desktop support by introducing a build.gradle flag, aligning the build process with WPILib documentation and allowing seamless local testing on desktop environments. Addressed a critical issue in trajectory calculation by updating the kSpeedAt12Volts constant to a direct value, resulting in more accurate and dependable path planning. Maintained clear documentation and commit traceability throughout the process. Utilized Gradle and Java, applying skills in build configuration, embedded systems, and robotics to deliver targeted improvements that streamline development and increase trajectory accuracy.