Zhengyang Yang focused on enhancing the WATonomous/wato_monorepo by delivering comprehensive documentation improvements for key robotics subsystems. He centralized and expanded documentation for the Ackermann multiplexer, joystick interfacing, and mock action publisher modules, using Markdown to provide clear usage guidance, API summaries, and integration notes. Leveraging his skills in ROS and software development, Zhengyang’s work aimed to streamline developer onboarding and reduce integration risks. By consolidating technical information across these modules, he improved maintainability and supported more reliable end-to-end testing. The depth of his documentation updates addressed both immediate usability and the long-term needs of the development team.