Robotics Software Engineer, Actuator Firmware

Weave Robotics, Inc.; San Francisco (CA); On-site; USD 130,000 - 185,000; Full time

Job summary

Weave Robotics, Inc. is seeking an Actuator Firmware Engineer in San Francisco. You will craft firmware powering actuators, building a robust, real-time stack and a low-level control system for precise, safe robot motion. You’ll collaborate with electrical, mechanical, and ML engineers to integrate firmware with hardware.

You’ll design firmware for motor control, validate sensors and controllers, and help ensure production-grade reliability in home robotics.

Qualifications

• 2+ years of experience developing control software for real-time systems.
• Deep understanding of embedded systems and firmware engineering.
• Proficient in embedded software with real-time constraints and low-level peripherals.
• Strong knowledge of motor control with encoders, sensing, and synchronization.

Responsibilities

• Design, develop, and maintain motor control firmware from prototypes to production.
• Develop and tune hierarchical control systems with nested feedback loops.
• Architect robust firmware meeting timing, safety, and robustness needs.
• Validate motor controllers, sensors, and embedded systems with EC&D teams.
• Build pipelines for encoder calibration, sensing, filtering, and synchronization.

Skills

Real-time control

Embedded software

Motor control theory

Hardware interfaces

Rust

Tools

SPI

I2C

CAN/CAN FD

EtherCAT

RS-485

Microcontrollers

Job description

Weave was founded to build the robots we’d want to have in our own home. We believe the next generation of robotics will transform everyday life by enabling people to do more and to reclaim time to spend on what’s important.

Weave was founded to build the robots we’d want to have in our own home. We believe the next generation of robotics will transform everyday life by enabling people to do more and to reclaim time to spend on what’s important. We also believe robots are in a sense like any other product: to matter, they have to ship. Our robots are already operating in real homes and businesses, giving us the opportunity to rapidly improve from real-world experience. With a growing team, strong customer demand, and capital for expansion, we’re entering an exciting stage of growth—and we’re looking for people with exceptional talent and standards to help bring home robotics to millions of households.

The Role

As an Actuator Firmware Engineer at Weave, you'll develop the firmware that powers the actuators in our robots. You'll be responsible for engineering a robust, realtime and modular firmware stack, and also develop a low level control system that transforms motion commands into precise, responsive and safe robot behavior. You will work closely with electrical, mechanical, and machine learning engineers, integrating firmware with our custom hardware to enable compliant, force-sensitive motion.

Responsibilities

• Design, develop, and maintain motor control firmware for early prototypes through production deployment.
• Develop, implement, and tune hierarchical control systems, including nested feedback control loops.
• Architect reliable, high-performance firmware that meets the timing, safety, and robustness requirements of production robotic systems.
• Validate and debug custom motor controllers, sensors, and embedded systems while partnering closely with electrical engineers during board development.
• Build robust pipelines for encoder calibration, current and voltage sensing, filtering, synchronization, and system characterization.

What You’ll Bring

• 2+ years developing control software for real-time systems, including firmware architecture, microcontrollers, drivers, and hardware abstraction layers.
• Deep understanding of embedded systems, firmware engineering, and working with prototype hardware.
• Proficiency developing embedded software with a deep understanding of real-time constraints and low-level peripherals.
• Strong understanding of motor control theory with hands‑on implementation working with rotary encoders, current sensing, calibration, filtering, and synchronization techniques used for robust feedback control.
• Experience with embedded communication interfaces such as SPI, I2C, RS-485, CAN/CAN FD and/or EtherCAT.
• Knowledge of embedded safety mechanisms—including brownout detection, overcurrent protection, watchdogs, and thermal monitoring.
• Experience with Rust is a plus.