Serene Xue developed advanced index motor velocity control features for the Reefscape2025 repository, focusing on improving speed regulation and tunability in robotics systems. She implemented a feedforward-based speed control using Java, leveraging kS and kV constants to establish consistent baseline velocity behavior. Building on this, Serene introduced a closed-loop PID control system with encoder feedback, enabling real-time gain adjustments through SmartDashboard. This approach reduced manual tuning time and increased repeatability, providing a robust foundation for precise velocity control across subsystems. Her work demonstrated depth in control systems engineering, emphasizing stability and maintainability without introducing production-critical bugs during the period.