Worked on the Triton-Robotics/TR-mbed repository to deliver two targeted features enhancing real-time data flow and control accuracy for the TestBench robot. Focused on optimizing Jetson feedback throughput by relocating feedback transmission to a higher-frequency section of the main loop, which improved message responsiveness and reduced latency. Refined the pitch control logic, updating position calculations and settings while adding detailed debug output for pitch and yaw, resulting in more precise control and richer diagnostics. Leveraged C++ for real-time loop optimization and embedded robotics integration, demonstrating skills in control systems, embedded systems, and real-time systems. No major bug fixes were reported.