In April 2025, Jasper Grant developed the ViperDirectControl driver for the Viper Robot Model within the uwsbel/chrono-wisc repository, focusing on direct hardware control for robotics applications. He designed and implemented a new C++ class and method that allow precise configuration of wheel speeds, steer angles, and lift angles, streamlining the interface between low-level hardware and higher-level planning systems. By emphasizing clean, testable software design and disciplined version control, Jasper improved motion fidelity and reduced tuning cycles. His work demonstrated strong skills in C++ development, embedded systems, and robotics, delivering a robust foundation for future driver and API enhancements.