Staff Robotics Software Engineer, Fulfil Solutions

• Fulfil is committed to creating an inclusive culture, and we celebrate diversity of all kinds. If this sounds like the kind of environment that you find intriguing, then please apply even if you don’t feel you meet all the requirements listed below. We'd love to hear from you
• Located within commuting distance to Mountain View Ca
• 8+ years of experience in embedded systems firmware development and architecture
• Deep understanding of embedded communication protocols: CAN bus, Modbus, I2C, SPI, UART
• Experience with motion control, motor tuning, encoder feedback, and trajectory optimization (e.g., jerk limiting)
• Strong C and C++ skills; familiarity with embedded Linux, shell scripting, and build systems (Bazel, CMake, etc.)
• Experience designing gRPC + Protobuf interfaces between firmware modules and external software
• Proven ability to lead unit testing strategy and build HIL testing environments
• Experience interfacing with electrical engineering teams and hardware bring-up
• Skilled with hardware debugging tools (oscilloscope, logic analyzer, multimeter, etc.)
• Familiarity with Linux-based SBCs (e.g., NXP i.MX, Raspberry Pi, etc.)

Desirable

• Lead architecture and development of embedded firmware systems from concept through production
• Drive system design across multiple communication layers: from physical protocols (CAN, I2C) to high-level RPC interfaces
• Mentor and coach engineers on best practices, code quality, and architectural decisions
• Implement robust, portable firmware using C/C++ for ARM-based microcontrollers and SBCs (e.g., STM32, NXP, Raspberry Pi-class devices)
• Develop and maintain protocol implementations for CAN bus, Modbus, I2C, UART, and SPI
• Design and maintain gRPC and Protocol Buffer interfaces to expose hardware services cleanly and safely to higher-level systems (e.g., orchestration, cloud, or local UIs)
• Integrate Linux-based SBC firmware modules with hardware abstraction layers
• Implement motor control algorithms, including tuning, sequencing, encoder-based positioning, and jerk limiting
• Use real-world feedback (encoders, sensors, timing feedback) to optimize motion sequences and avoid unnecessary re-homing
• Design and maintain unit testing and HIL (Hardware-in-the-Loop) environments
• Debug systems at all layers — from firmware logic to sensor integration to timing drift
• Use oscilloscopes, multimeters, logic analyzers, and related tools to bring up and validate hardware interfaces
• Work with systems, hardware, software, and operations teams to align on firmware behaviors and API contracts
• Own interface boundaries between hardware components, middleware, and application layers
• Participate in bring-up, debugging, and integration of custom hardware
• Ensure detailed documentation of firmware APIs, hardware mappings, and integration guides
• Promote best practices for version control, CI/CD for firmware, and structured release processes