Worked on the thedropbears/pyreefscape repository to enhance control systems for a robotics platform, focusing on stabilizing climber controls and refining input mappings. Addressed a critical issue by correcting the climber motor direction through configuration changes, ensuring reliable and safe operation. Simplified gamepad input mappings to reduce conflicts and improve deployment and vision system handling, particularly in test scenarios. Tuned the reef intake controller by adjusting the L3 intake angle parameter, resulting in more precise intake performance. Utilized Python to implement these embedded systems improvements, laying the groundwork for future automation and contributing to more robust and maintainable robotics software.