Nathan Tang worked on the formulaslug/fs-3 repository, focusing on enhancing the CAN communication subsystem for embedded systems. He refactored the CANWrapper module in C++, moving method definitions from headers to source files to improve modularity and maintainability. Nathan introduced new methods for sending throttle, sync, and state data over the CAN Bus, and streamlined the receive processing logic to support reliable integration with higher-level subsystems. He also addressed a function name typo and removed dead code, improving code hygiene. This work laid a foundation for faster feature delivery and easier maintenance of the CAN layer in embedded applications.