Robotics Software Engineer, Actuator Firmware San Francisco, CA · On-site

Weave Robotics, Inc.; San Francisco, Northern (CA, KY); Hybrid; USD 120,000 - 180,000; Full time

Job summary

Weave Robotics, Inc. in San Francisco is seeking an Actuator Firmware Engineer to design and maintain motor control firmware for our robots.

You will implement a robust, real-time, modular firmware stack and develop low-level control systems that translate motion commands into safe, responsive behavior. You’ll collaborate with electrical, mechanical, and ML engineers to integrate firmware with custom hardware, validate controllers, and optimize encoder calibration, current sensing, and

Qualifications

• 2+ years writing control software for real-time systems and firmware
• Experience with embedded hardware prototyping and debugging
• Strong understanding of motor control and feedback loops
• Knowledge of embedded safety features (brownout, overcurrent, watchdogs) and protective strategies

Responsibilities

• Design, develop, and maintain motor control firmware from prototype to production
• Develop and tune hierarchical control systems and nested feedback loops
• Architect reliable, high-performance firmware meeting timing and safety requirements
• Validate and debug motor controllers, sensors, and embedded systems with electrical engineers
• Build pipelines for encoder calibration, current/voltage sensing, filtering, and synchronization

Skills

Real-time systems

Firmware architecture

Microcontrollers

Drivers

Hardware abstraction layer

Embedded systems

Real-time constraints

Motor control theory

Encoder calibration

Safety mechanisms

Tools

SPI

I2C

RS-485

CAN/CAN FD

EtherCAT

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.

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.