Lane Fuller focused on improving autonomous reef navigation in the Octobots9084/Placeholder-2025 repository by addressing a critical alignment distance bug. Using Java and leveraging skills in computer vision, PID control, and robotics, Lane refactored the motion logic to enhance y-speed calculation, resulting in more stable and accurate robot positioning during reef alignment. The work included targeted bug fixes and the addition of detailed logging for key vision metrics, which streamlined debugging and performance monitoring across different hardware setups. This effort reduced misalignment events and contributed to smoother autonomous missions, demonstrating a thoughtful, in-depth approach to robotics software reliability and maintainability.