Embedded Software Engineer - Firmware & Motion Control

SQ4D is a construction technology company developing and deploying advanced robotic systems for concrete 3D printing. Our Autonomous Robotic Construction System (ARCS) combines large-scale robotics, automation, software, motion control, and material delivery systems with the goal of Changing the Way the World is Built ™. Position Overview The ideal candidate has a strong background in embedded software development, firmware engineering, and machine motion control. You will work directly with our engineering team to understand the existing Duet firmware architecture, implement custom functionality, troubleshoot complex software and hardware interactions, and develop new capabilities for our construction 3D printers. This is a hands-on engineering role for someone who enjoys working close to the hardware, investigating how systems operate at the code level, and translating software improvements into measurable performance gains in physical machines. Key Responsibilities Firmware Development & Codebase Customization

• Analyze, modify, and extend the Duet firmware to support SQ4D's specialized robotic construction equipment.
• Develop custom firmware features, commands, and machine-control functionality.
• Investigate existing firmware architecture, dependencies, and execution flows to understand and improve system behavior.
• Debug software defects, resolve unexpected machine behavior, and improve code reliability and maintainability.
• Evaluate upstream firmware updates and integrate relevant improvements while maintaining SQ4D-specific customizations. Motion Control & Machine Integration
• Develop and optimize firmware functionality related to coordinated motion, motor control, homing, positioning, and machine initialization.
• Investigate interactions between firmware, motor drivers, encoders, sensors, and other connected hardware.
• Improve the execution and reliability of G-code commands, macros, and custom machine operations.
• Troubleshoot timing, synchronization, communication, and motion-related issues in a real-world industrial environment. Software Architecture & Development Practices
• Maintain a structured Git-based development workflow, including branching, code reviews, testing, and release management.
• Write clean, documented, maintainable code and contribute to software architecture decisions.
• Develop unit tests, integration tests, and debugging tools to validate firmware changes.
• Maintain documentation for firmware modifications, configuration changes, known issues, and release procedures.
• Maintain and extend SQ4D's operator interface, a Vue.js/TypeScript fork of Duet Web Control, and its automated build and deployment Testing & Continuous Improvement
• Reproduce and diagnose firmware issues through code analysis, logs, controlled experiments, and hardware testing.
• Collaborate with electrical, mechanical, automation, and manufacturing engineers to resolve system-level problems.
• Validate firmware changes on physical ARCS machines before deployment.
• Identify opportunities to improve system stability, responsiveness, fault handling, and recovery from errors.
• Contribute to the long-term development of a more autonomous, intelligent, and reliable robotic construction platform. Required Qualifications
• Bachelor's degree in Computer Engineering, Electrical Engineering, Software Engineering, Computer Science, Robotics, or a related technical field, or equivalent practical experience.
• Demonstrated experience developing or modifying embedded software and firmware
• Proficiency in C and C++, and working knowledge of JavaScript/Typescript and Python.
• Experience navigating, debugging, and contributing to an existing software codebase.
• Familiarity with Git and structured software development workflows.
• Strong debugging and analytical skills, including the ability to isolate complex software issues.
• Ability to work across software and hardware boundaries and systematically troubleshoot physical systems.
• Strong written and verbal communication skills. Preferred Qualifications
• Experience with RepRapFirmware and Duet controllers
• Experience with Vue.js or another front-end framework, and with HTTP/REST APIs
• Experience with 3D printer control systems, CNC machines, robotics, or industrial automation.
• Familiarity with G-code interpretation, motion planning, kinematics, and stepper motor control.
• Familiarity with Ethernet communication.
• Experience with hardware debugging tools, serial consoles, logic analyzers, oscilloscopes, or similar equipment.
• Experience maintaining a customized fork of an open-source software project.
• Familiarity with automated testing, continuous integration, and software release management. What Success Looks Like Within this role, you will help SQ4D establish a robust, well-documented, and maintainable firmware platform that supports increasingly sophisticated robotic construction equipment. Success means being able to independently understand the existing Duet codebase, diagnose difficult firmware issues, implement and validate meaningful improvements, and collaborate effectively with the engineering team to turn software changes into reliable machine functionality. Why Join SQ4D?
• Work directly on advanced robotic systems that are transforming the construction industry.
• Develop software that controls real-world machinery and builds full-size concrete structures.
• Take ownership of meaningful improvements with measurable operational impact.
• Collaborate across software, electrical, mechanical, and manufacturing engineering disciplines.
• Help shape the next generation of autonomous construction technology.