In April 2025, Sama Fallon developed and integrated a Feeder Mechanism Controller and Estimator for the CU-Robotics/firmware repository, establishing the foundational software for automated feeding hardware. Working primarily in C++ and leveraging expertise in control systems and embedded systems, Sama focused on initial integration and configuration updates to enable rapid deployment of the new feeder system. The work included cleaning up the codebase by commenting out unused or debugging paths, which improved maintainability and reduced risk. Although the project was early-stage with one feature delivered, the technical depth laid essential groundwork for future robotics automation within the repository.