Before we started our Capstone, we first did research on the ins and outs of the project. We first looked at current technology, ways on improving it, and if it was feasible. After coming up with the idea, we then created a schedule which would become the skeleton of the project. The schedule was the timeline which told us when things should have been done and when they should have been done. When creating the schedule, we factored in each individual part of the project. However, what we didn’t factor in was the time it takes for us to learn and the availability of the people who were assisting us. Our capstone project was the design of a controller for a robotic arm aimed to assist people with limited upper extremity mobility. We divided the project into 3 parts: hardware, electrical, and software where we first prioritized the physical models since 3D printing would take a while. Then we dealt with the electrical components since it could only be wired when the physical components are attached to them. Then, we last focused on the software where little did we know that RS-232, a type of serial communication, would provide us with a lot of trouble. In the beginning of the project, we thought that we could easily understand and deal with it based on the literature that we read, however, when it came to the time when we had to work on it, the system became more complicated due to the inherent software within the robot. This caused the project to be delayed a lot. We didn’t completely understand the difficulty that relates to the RS-232 communication and that was one of the scope creeps that we encountered. Thankfully, we were still able to present a project at the end of the semester.