Worked on stabilizing the driving system for the FRC8592/2025-reefscape repository by shifting navigation from a vision-based approach to AprilTag-based navigation. This involved removing vision-driven logic from the teleopPeriodic method, cleaning up unused vision imports and variables, and tuning the joystick exponent to enhance driving responsiveness. The work focused on reducing technical debt related to vision processing and simplifying the navigation pipeline, thereby improving system reliability. Utilized Java and applied skills in command-based frameworks, robot control, and swerve drive systems. These efforts laid a more maintainable foundation for future feature development while addressing a key bug in the codebase.