During February 2025, this developer enhanced the Reefscape2025 repository by delivering advanced index motor velocity control features using Java and robotics control systems. They replaced direct speed setting with a feedforward controller, leveraging kS and kV constants to improve speed regulation and responsiveness. Building on this, they implemented a closed-loop PID control system with encoder feedback, enabling real-time gain adjustments through SmartDashboard for more precise and tunable velocity control. These changes reduced manual tuning time and increased repeatability, establishing a robust foundation for future subsystem improvements. The work focused on feature delivery and stability, with no production-critical bugs addressed.