Worked on FRC900/900RobotCode to enhance robot vision capabilities by integrating OV2311 camera calibration data into video streams, improving computer vision accuracy and streamlining calibration workflows. Developed standalone YAML files containing intrinsic and extrinsic parameters, enabling more reliable and automated camera setup. In a subsequent project, delivered a dynamic AprilTags recognition service with runtime configurability, allowing flexible tag selection without requiring rebuilds. This included implementing a new message package, nodelet callback, and service call for tag filtering, as well as robustness improvements to prevent stale state. Utilized C++, CMake, and ROS throughout, focusing on robotics and service development.