Robotic Cell Phone Programmer - Designed and programmed custom stepper motor driver boards for a robotic cellular phone programmer. This project involved inter-processor communication between 8 Microchip PIC-family microcontrollers supporting simultaneous motion of up to 7 axes.  Using only two general-purpose I/O pins from each microcontroller, Theta Engineering developed a serial master-slave communications protocol for this purpose.  Theta Engineering did all aspects of the electronic and firmware design in this project including component selection, circuit design, PCB layout, firmware and hardware bring-up.  The photo above depicts the boards and the tester that was used to test them.