Firmware Engineer - Motor Control

Join Us in Building the Future of Home Robotics At Sunday, we're developing personal robots to reclaim the hours lost to repetitive tasks. We're focused on an ambitious goal to make generalized robots broadly accessible, enabling households to take back quality time. We have spent the last 18 months building a talented team, securing capital, and validating our technology. We are now seeking passionate individuals to join us in the next phase of our growth. If you are ready to apply your skills to the forefront of robotics innovation, we’d love to hear from you. What to Expect You will be one of the early members of the EE & Firmware team, with the opportunity to own the motor control firmware that drives every actuator in our home robot. You'll architect and tune the low-level control systems that translate high-level commands into precise, reliable motion. You will collaborate closely with electrical, mechanical, and machine-learning teams to integrate motor control firmware with custom hardware, enabling force-sensitive and compliant control behaviors across our robotic platforms. What You'll Do - Own motor control firmware end-to-end, from prototype to production, working closely with electrical engineering, mechanical engineering, and machine learning teams - Design and implement motor control firmware on brushless actuators; implement and tune FOC, current, speed, and position control loops - Bring up and debug custom motor control hardware and sensors; collaborate with hardware engineers on board bring-up - Build robust sensing and calibration pipelines for encoders and current/voltage measurements - Work closely with controls and machine learning engineers to enable force-sensitive, compliant control under dynamic loads What You'll Bring - BS or MS degree in Computer or Electrical Engineering, related technical field, or equivalent practical experience - 3+ years of real-time embedded software development such as architecture design, microcontrollers, drivers & libraries - Strong proficiency in embedded C/C++ with a deep understanding of real-time constraints and low-level peripherals (timers, ADCs, PWMs, DMA, non-volatile memory) - Deep knowledge of motor control theory (field-oriented control, dq transforms), with hands-on experience - Experience with encoders (of various types), and current sensors, including calibration, filtering, and synchronization for reliable control feedback - Experience working with electrical engineering teams, with the ability to read and understand schematics and layout - Comfortable bringing up new boards, debugging cross-functional issues, and working with Product team to design around real-world conditions - Experience with communication protocols such as I2C, SPI, UART, RS-485, CAN (FD), Ethernet, EtherCAT - Knowledge of safety mechanisms (overcurrent, overtemp, watchdogs, brownout protection) and how to implement them robustly Nice to Have - Delivered at least one project from prototype phase into production - Familiarity with RTOS concepts and experience implementing them using industry-standard RTOS environments, including scheduling, interrupt handling, and real-time guarantees - Experience with Python for scripting, data analysis, or test automation - Cross-disciplinary skills such as system architecture design, protocol selection, or familiarity working with ML-driven control pipelines At Sunday Robotics, we’re building technology shaped by real people — curious, creative, and diverse. We’re proud to be an equal opportunity employer and consider all qualified applicants regardless of race, color, religion, gender, gender identity or expression, sexual orientation, national origin, genetics, disability, age, or veteran status. Even if you don’t meet every single requirement, we encourage you to apply. Studies show that women and underrepresented groups often hold back unless they meet 100% of the criteria — we don’t want that to be the reason we miss out on great talent.