Created Power-On POST firmware for 4 different MC68332-based controllers in a sports robot and also for the communications network that serve them in the field. This included test routines to check controller core consisting of the following: an instruction set of the CPU, a checksum test of the ROM, address test and variation of the static RAM; loopback tests for the serial controller present on each board. Test routines were also written for specialized peripherals for analog-to-digital converters (ADC) and for a liquid-crystal displays (LCD) controller. This project utilized the Queued Output Match (QOM) function of the MC68332's Time Processor Unit (TPU) as well as the Serial Peripheral Interface (SPI) contained within the MC68332.