Developed firmware for a medical device stepper motor controller using ATSAMD microcontrollers, enabling precise control of 16 stepper motors' speed and on/off timings. Implemented custom commands and integrated various communication interfaces, including SPI, I2C, USB, and UART. Utilized Eclipse IDE for firmware development and optimization. Enhanced the Panel Due Display GUI for improved user interaction in 3D printing applications. Delivered a robust and efficient solution tailored to the specific needs of medical and 3D printing systems.