We’re seeking a Sr. Firmware Engineer with an interest in developing flexible and robust software for robotic systems.  As a Firmware Engineer at Apptronik, you will be responsible for developing and maintaining the firmware running on our embedded actuator controllers.  This includes design, implementation, optimization, and testing of sensor drivers, comms protocols, filters, and real-time feedback control systems.  Additionally, you will assist with the development and execution of bring-up processes, system integration, validation, and debugging embedded controller and actuator hardware as it comes online.  The embedded actuator controllers are a core component enabling Apptronik robots, including humanoids and mobile manipulators, to perform useful labor tasks across a variety of different applications.

Requirements

• 5+ years of software engineering experience (excluding academic training) developing production-grade embedded software in C/C++ 
• Experienced with C and C++ development for TI or ARM microcontrollers
• Experience working with embedded technologies such as:
  • Communication protocols (SPI, EtherCAT, Ethernet, UART, CAN, etc.) 
  • Sensing (incremental and absolute encoders, analog sensors, IMUs) 
• Experience designing and developing reliable software for embedded devices, edge applications, or robotics with critical, real-time performance requirements 
• Experience testing, validating, and managing firmware deployments for fielded products 
• Familiarity with Git / similar version control systems 
• Software development in a Linux environment
• Strong communication skills and willingness to learn robotics concepts as needed 

Nice to Have

• BS/MS/PhD in Computer Science, Computer Engineering, or equivalent experience 
• Experience working with embedded technologies such as:
  • Motion control, motors (BLDC), motor controllers
  • Real-time feedback control, especially implementing and debugging on hardware 
• Experience with BLDC FOC motor control concepts, Park/Clarke transformations, current control 
• Experience with industrial control systems, industrial robotics, or process automation 
  • Familiarity with safety critical embedded system design, e.g. ANSI/RIA R15.06
• Familiarity with digital signal processing, linear systems, estimation, and/or control theory 
• Familiarity with collaborating on a team using an Agile process, including participating in sprint planning, design reviews, and code reviews 
• Familiarity with software testing, profiling, and optimization methodologies and tools 
• Knowledge of real time operating system concepts and prior experience with an RTOS 
  • Understanding of distributed computing / multi-threaded / multi-process design and debugging concepts 
• Knowledge of modern C++(14/17) best practices 

Qualities

• Creative, curious, analytical, and disciplined     
• A passion for building things. Fellow tinkerers are encouraged to apply.