Worked on the lobstahbots/2025-Robot-Code repository to centralize and clean up pivot control constants within the robot’s Pivot subsystem. Refactored the codebase to introduce a PivotConstants class, consolidating PID gains, feedforward gains, and motor current limits into a single source of truth. This approach, implemented in Java and leveraging control systems and embedded systems expertise, reduced configuration drift and simplified future tuning. Addressed a minor syntax error and standardized parameter formatting, which improved maintainability and reliability. The changes enable faster, safer tuning and make onboarding easier for new engineers by ensuring consistent configuration across deployments in robotics applications.