During March 2025, Nug4sp developed a wheel-speed-driven motor command publishing feature for the MARS-UVA/mars-jetson repository, focusing on real-time robotics control. Using Python and ROS 2, Nug4sp implemented a modular MotorChanges publisher and established a foundation for converting wheel speed signals into actionable motor queries. This approach created a testable architecture for distributing motor commands, supporting future integration with higher-level navigation and control loops. The work enhanced the feedback loop between wheel velocity and actuator commands, improving responsiveness. Nug4sp concentrated on feature delivery and architectural groundwork, with no major bug fixes, demonstrating depth in robotics software development and system design.