Staff Robotics Software Engineer

<p><strong>Fulfil</strong><span style="font-weight: 400;"> is a well-funded, rapidly growing, and inclusive company that has developed a custom automation robotics system to pick and pack online orders of groceries and other consumables, bringing delight and a value proposition to consumers that doesn’t exist today. Additionally, its unique design and technology is purpose-built to solve today’s environmental problems in the world’s food supply chain. Founded by a team with previous startup success and backed by top-tier VCs, we are committed to reducing waste, improving environmental impact, and reducing emissions with truly new technology.</span></p> <p><span style="font-weight: 400;">We can’t do it alone -- we’re seeking curious, capable, passionate team members motivated by the opportunity to create lasting impact on the world through their work. This role offers ample growth opportunities while working side-by-side with an impassioned, multi-disciplinary team spanning mechanical design, software, computer vision, systems integration, and ops to design and operationalize world-changing technology.</span></p> <p><strong>Fulfil</strong><span style="font-weight: 400;"> is committed to creating an inclusive culture, and we celebrate diversity of all kinds.&nbsp; 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.&nbsp; We'd love to hear from you.</span></p> <p><strong>Why you’ll love working at Fulfil</strong></p> <ul> <li>Autonomy and ownership; you design it, build it, and own it.</li> <li>Amazing team</li> <li>Build robots that do cool things</li> <li>Rapid growth</li> <li>Inclusive culture</li> <li>Work-life balance</li> <li>Collaborative culture</li> <li>We hire great people and trust them</li> </ul> <h3><strong>Key Responsibilities</strong></h3> <h4><strong>Technical Leadership</strong></h4> <ul> <li>Lead architecture and development of embedded firmware systems from concept through production.</li> <li>Drive system design across multiple communication layers: from physical protocols (CAN, I2C) to high-level RPC interfaces.</li> <li>Mentor and coach engineers on best practices, code quality, and architectural decisions.</li> </ul> <h4><strong>Firmware &amp; Control Development</strong></h4> <ul> <li>Implement robust, portable firmware using C/C++ for ARM-based microcontrollers and SBCs (e.g., STM32, NXP, Raspberry Pi-class devices).</li> <li>Develop and maintain protocol implementations for <strong>CAN bus</strong>, <strong>Modbus</strong>, <strong>I2C</strong>, <strong>UART</strong>, and <strong>SPI</strong>.</li> <li>Design and maintain <strong>gRPC and Protocol Buffer interfaces</strong> to expose hardware services cleanly and safely to higher-level systems (e.g., orchestration, cloud, or local UIs).</li> <li>Integrate Linux-based SBC firmware modules with hardware abstraction layers.</li> <li>Implement <strong>motor control algorithms</strong>, including tuning, sequencing, encoder-based positioning, and jerk limiting.</li> <li>Use real-world feedback (encoders, sensors, timing feedback) to optimize motion sequences and avoid unnecessary re-homing.</li> </ul> <h4><strong>Testing &amp; Quality Engineering</strong></h4> <ul> <li>Design and maintain <strong>unit testing and HIL (Hardware-in-the-Loop)</strong> environments.</li> <li>Debug systems at all layers — from firmware logic to sensor integration to timing drift.</li> <li>Use <strong>oscilloscopes</strong>, <strong>multimeters</strong>, <strong>logic analyzers</strong>, and related tools to bring up and validate hardware interfaces.</li> </ul> <h4><strong>Cross-Disciplinary Collaboration</strong></h4> <ul> <li>Work with systems, hardware, software, and operations teams to align on firmware behaviors and API contracts.</li> <li>Own interface boundaries between hardware components, middleware, and application layers.</li> <li>Participate in bring-up, debugging, and integration of custom hardware.</li> </ul> <h4><strong>Documentation &amp; Lifecycle Management</strong></h4> <ul> <li>Ensure detailed documentation of firmware APIs, hardware mappings, and integration guides.</li> <li>Promote best practices for version control, CI/CD for firmware, and structured release processes.</li> </ul> <h3><strong>Required Qualifications</strong></h3> <ul> <li style="font-weight: bold;"><strong>Located within commuting distance to Mountain View Ca</strong></li> <li>8+ years of experience in embedded systems firmware development and architecture.</li> <li>Deep understanding of embedded communication protocols: CAN bus, Modbus, I2C, SPI, UART.</li> <li>Experience with motion control, motor tuning, encoder feedback, and trajectory optimization (e.g., jerk limiting).</li> <li>Strong C and C++ skills; familiarity with embedded Linux, shell scripting, and build systems (Bazel, CMake, etc.).</li> <li>Experience designing <strong>gRPC + Protobuf interfaces</strong> between firmware modules and external software.</li> <li>Proven ability to lead unit testing strategy and build HIL testing environments.</li> <li>Experience interfacing with electrical engineering teams and hardware bring-up.</li> <li>Skilled with hardware debugging tools (oscilloscope, logic analyzer, multimeter, etc.).</li> <li>Familiarity with Linux-based SBCs (e.g., NXP i.MX, Raspberry Pi, etc.).</li> </ul> <h3><strong>Preferred Qualifications</strong></h3> <ul> <li>Experience with <strong>CanOpen</strong> protocol.</li> <li>Familiarity with <strong>PLCs</strong>, ladder logic, or industrial automation frameworks.</li> <li>Background in <strong>industrial automation</strong>, robotics, or distributed systems.</li> <li>Experience with firmware bootloaders, OTA update strategies, and secure firmware deployment.</li> <li>Understanding of <strong>network protocols</strong> (Ethernet, MQTT, TCP/IP) in embedded contexts.</li> <li>Exposure to <strong>DevOps practices</strong> for firmware (artifact management, CI/CD pipelines).</li> <li>A maker/tinkerer mindset — whether from robotics competitions, hobby projects, or hardware hacking.</li> </ul> <h3><strong>Why Join Us?</strong></h3> <ul> <li>A chance to be an early team member and leader of a rapidly growing startup and have an impact on company and technology direction.</li> <li>The ability to solve challenging problems with a skilled, dedicated and friendly multi-disciplinary team.</li> <li>A balanced, highly collaborative work environment.</li> <li>Competitive medical, dental, and vision coverage, with 401K, life and disability coverage.</li> <li>A PTO policy where we encourage and expect all employees to take time to enjoy life outside of work.</li> <li>The salary range for this position is 180,000-$215,000 plus stock and benefits. Pay within the range is based on candidate experience, job-specific skills, education, and work location.</li> </ul> <p>&nbsp;</p>