I recently got around to building version 3 of my semaphore-bot, building gear boxes, a new enclosure, and brand new code.
The gearboxes work WONDERFULLY. Semaphore-bot v3.0.alpha on Vimeo
Code info can be found here: Andrew S. Parnell - UX Manager Though I need to rewrite the toBot function in the PERL script because it's really sloppy.