Mustafa Abdullah enhanced the arm subsystem for the StuyPulse/Aunt-Mary repository, focusing on precise rotation-based angle handling and gravity-aware motor control. He refactored the subsystem to use Rotation2d for angle representation, enabling more accurate and maintainable angular calculations. By introducing GravityType motor control, Mustafa improved the arm’s ability to compensate for gravity, resulting in safer and more predictable motion. He also fixed the periodic update method to strengthen state management and reduce drift. Working primarily in Java and applying skills in control systems and embedded systems, Mustafa’s contributions laid a solid foundation for future motion control improvements in robotics applications.