Worked on the MacRover/maxwell repository to deliver a unified CAN command framework for VIPER, focusing on embedded systems and firmware development in C. The project involved refactoring command IDs and consolidating card-specific commands, introducing a card ID field to enable granular control and data reporting. Updated the state machine to manage active and inactive card states, enhancing fault isolation and status reporting. Added new capabilities for enabling or disabling cards, setting multiplexer values, and retrieving card data. These changes improved observability and scalability for multi-card configurations, supporting safer operations and streamlining future integrations without addressing bug fixes during this period.