Developed embedded firmware for the MacRover/maxwell repository, focusing on relay control within the ROR subsystem using a Raspberry Pi Pico. The work addressed noise sensitivity issues by implementing firmware-based ON/OFF signal handling, resulting in more reliable and deterministic relay operations. Leveraging expertise in embedded systems, firmware development, and microcontrollers, the developer completed a full debugging and iteration cycle to ensure robust integration between hardware and software. The solution not only improved relay reliability but also laid the foundation for easier field maintenance and future enhancements. All development was carried out in C++, emphasizing maintainability and precise control of hardware behavior.