diff --git a/EXRAIL2.cpp b/EXRAIL2.cpp
index 633421d..381d043 100644
--- a/EXRAIL2.cpp
+++ b/EXRAIL2.cpp
@@ -598,6 +598,18 @@ void RMFT2::loop2() {
     delayMe(50);
     return;
     
+  case OPCODE_ATGTE: // wait for analog sensor>= value
+    timeoutFlag=false;
+    if (IODevice::readAnalogue(operand) >= (int)(GET_OPERAND(1))) break;
+    delayMe(50);
+    return;
+    
+  case OPCODE_ATLT: // wait for analog sensor < value
+    timeoutFlag=false;
+    if (IODevice::readAnalogue(operand) < (int)(GET_OPERAND(1))) break;
+    delayMe(50);
+    return;
+      
   case OPCODE_ATTIMEOUT1:   // ATTIMEOUT(vpin,timeout) part 1
     timeoutStart=millis();
     timeoutFlag=false;
@@ -927,23 +939,48 @@ void RMFT2::kill(const FSH * reason, int operand) {
 
 /* static */ void RMFT2::doSignal(VPIN id,bool red, bool amber, bool green) {
   //if (diag) DIAG(F(" dosignal %d"),id);
-  for (int sigpos=0;;sigpos+=3) {
-    VPIN redpin=GETFLASHW(RMFT2::SignalDefinitions+sigpos);
+  for (int sigpos=0;;sigpos+=4) {
     //if (diag) DIAG(F("red=%d"),redpin);
-    if (redpin==0) {
+    VPIN sigid=GETFLASHW(RMFT2::SignalDefinitions+sigpos);
+    if (sigid==0) { // end of signal list 
       DIAG(F("EXRAIL Signal %d not defined"), id);
       return;  // signal not found
     }
-    if (redpin==id) {
-      VPIN amberpin=GETFLASHW(RMFT2::SignalDefinitions+sigpos+1);
-      VPIN greenpin=GETFLASHW(RMFT2::SignalDefinitions+sigpos+2);
-      //if (diag) DIAG(F("signal %d %d %d"),redpin,amberpin,greenpin);
-      // If amberpin is zero, synthesise amber from red+green
-      IODevice::write(redpin,red || (amber && (amberpin==0)));
-      if (amberpin) IODevice::write(amberpin,amber);
-      if (greenpin) IODevice::write(greenpin,green || (amber && (amberpin==0)));
-      return;
+    // sigid is the signal id used in RED/AMBER/GREEN macro
+    // for a LED signal it will be same as redpin
+    // but for a servo signal it will also have SERVO_SIGNAL_FLAG set. 
+
+    if ((sigid & ~SERVO_SIGNAL_FLAG & ~ACTIVE_HIGH_SIGNAL_FLAG)!= id) continue; // keep looking
+
+    // Correct signal definition found, get the rag values
+    VPIN redpin=GETFLASHW(RMFT2::SignalDefinitions+sigpos+1);
+    VPIN amberpin=GETFLASHW(RMFT2::SignalDefinitions+sigpos+2);
+    VPIN greenpin=GETFLASHW(RMFT2::SignalDefinitions+sigpos+3);
+    //if (diag) DIAG(F("signal %d %d %d"),redpin,amberpin,greenpin);
+      
+    if (sigid & SERVO_SIGNAL_FLAG) {
+      // A servo signal, the pin numbers are actually servo positions
+      // Note, setting a signal to a zero position has no effect.
+      int16_t servopos= red? redpin: (green? greenpin : amberpin);
+      if  (servopos!=0) IODevice::writeAnalogue(id,servopos,PCA9685::Bounce);
+      return;  
     }
+      
+    // LED or similar 3 pin signal
+    // If amberpin is zero, synthesise amber from red+green
+    if (amber && (amberpin==0)) {
+      red=true;
+      green=true;
+    }
+
+    // Manage invert (HIGH on) pins
+    bool aHigh=sigid & ACTIVE_HIGH_SIGNAL_FLAG;
+    
+    // set the three pins 
+    if (redpin) IODevice::write(redpin,red^aHigh);
+    if (amberpin) IODevice::write(amberpin,amber^aHigh);
+    if (greenpin) IODevice::write(greenpin,green^aHigh);
+    return;
   }
 }
 
diff --git a/EXRAIL2.h b/EXRAIL2.h
index 3e855d9..960e97f 100644
--- a/EXRAIL2.h
+++ b/EXRAIL2.h
@@ -33,6 +33,7 @@ enum OPCODE : byte {OPCODE_THROW,OPCODE_CLOSE,
              OPCODE_FWD,OPCODE_REV,OPCODE_SPEED,OPCODE_INVERT_DIRECTION,
              OPCODE_RESERVE,OPCODE_FREE,
              OPCODE_AT,OPCODE_AFTER,OPCODE_AUTOSTART,
+             OPCODE_ATGTE,OPCODE_ATLT,
              OPCODE_ATTIMEOUT1,OPCODE_ATTIMEOUT2,OPCODE_IFTIMEOUT,
              OPCODE_LATCH,OPCODE_UNLATCH,OPCODE_SET,OPCODE_RESET,
              OPCODE_IF,OPCODE_IFNOT,OPCODE_ENDIF,OPCODE_IFRANDOM,OPCODE_IFRESERVE,
@@ -93,7 +94,10 @@ class LookList {
     static void emitTurnoutDescription(Print* stream,int16_t id);
     static const byte rosterNameCount;
     static void emitWithrottleRoster(Print * stream);
-    static const FSH * getRosterFunctions(int16_t cabid);  
+    static const FSH * getRosterFunctions(int16_t cabid);
+    static const int16_t SERVO_SIGNAL_FLAG=0x4000;
+    static const int16_t ACTIVE_HIGH_SIGNAL_FLAG=0x2000;
+  
 private: 
     static void ComandFilter(Print * stream, byte & opcode, byte & paramCount, int16_t p[]);
     static bool parseSlash(Print * stream, byte & paramCount, int16_t p[]) ;
diff --git a/EXRAIL2MacroReset.h b/EXRAIL2MacroReset.h
index 54521e4..e140a32 100644
--- a/EXRAIL2MacroReset.h
+++ b/EXRAIL2MacroReset.h
@@ -29,6 +29,8 @@
 #undef ALIAS
 #undef AMBER
 #undef AT
+#undef ATGTE
+#undef ATLT
 #undef ATTIMEOUT
 #undef AUTOMATION 
 #undef AUTOSTART
@@ -99,11 +101,13 @@
 #undef SERVO 
 #undef SERVO2 
 #undef SERVO_TURNOUT 
+#undef SERVO_SIGNAL
 #undef SET
 #undef SET_TRACK_DC
 #undef SET_TRACK_DCC
 #undef SETLOCO 
 #undef SIGNAL 
+#undef SIGNALH 
 #undef SPEED 
 #undef START 
 #undef STOP 
@@ -122,6 +126,8 @@
 #define ALIAS(name,value)
 #define AMBER(signal_id)
 #define AT(sensor_id)
+#define ATGTE(sensor_id,value) 
+#define ATLT(sensor_id,value) 
 #define ATTIMEOUT(sensor_id,timeout_ms)
 #define AUTOMATION(id, description) 
 #define AUTOSTART
@@ -191,12 +197,14 @@
 #define SERIAL3(msg) 
 #define SERVO(id,position,profile) 
 #define SERVO2(id,position,duration) 
+#define SERVO_SIGNAL(vpin,redpos,amberpos,greenpos)
 #define SERVO_TURNOUT(id,pin,activeAngle,inactiveAngle,profile,description...) 
 #define SET(pin) 
 #define SET_TRACK_DC(trackid)
 #define SET_TRACK_DCC(trackid)
 #define SETLOCO(loco) 
 #define SIGNAL(redpin,amberpin,greenpin) 
+#define SIGNALH(redpin,amberpin,greenpin) 
 #define SPEED(speed) 
 #define START(route) 
 #define STOP 
diff --git a/EXRAILMacros.h b/EXRAILMacros.h
index 8c915f0..4e7e065 100644
--- a/EXRAILMacros.h
+++ b/EXRAILMacros.h
@@ -148,10 +148,14 @@ const FSH *  RMFT2::getRosterFunctions(int16_t cabid) {
 // Pass 8 Signal definitions
 #include "EXRAIL2MacroReset.h"
 #undef SIGNAL
-#define SIGNAL(redpin,amberpin,greenpin) redpin,amberpin,greenpin, 
+#define SIGNAL(redpin,amberpin,greenpin) redpin,redpin,amberpin,greenpin, 
+#undef SIGNALH
+#define SIGNALH(redpin,amberpin,greenpin) redpin | RMFT2::ACTIVE_HIGH_SIGNAL_FLAG,redpin,amberpin,greenpin, 
+#undef SERVO_SIGNAL
+#define SERVO_SIGNAL(vpin,redval,amberval,greenval) vpin | RMFT2::SERVO_SIGNAL_FLAG,redval,amberval,greenval, 
 const  FLASH  int16_t RMFT2::SignalDefinitions[] = {
     #include "myAutomation.h"
-    0,0,0 };
+    0,0,0,0 };
 
 // Last Pass : create main routes table
 // Only undef the macros, not dummy them.  
@@ -169,6 +173,8 @@ const  FLASH  int16_t RMFT2::SignalDefinitions[] = {
 #define ALIAS(name,value) 
 #define AMBER(signal_id) OPCODE_AMBER,V(signal_id),
 #define AT(sensor_id) OPCODE_AT,V(sensor_id),
+#define ATGTE(sensor_id,value) OPCODE_ATGTE,V(sensor_id),OPCODE_PAD,V(value),  
+#define ATLT(sensor_id,value) OPCODE_ATLT,V(sensor_id),OPCODE_PAD,V(value),  
 #define ATTIMEOUT(sensor_id,timeout) OPCODE_ATTIMEOUT1,0,0,OPCODE_ATTIMEOUT2,V(sensor_id),OPCODE_PAD,V(timeout/100L),
 #define AUTOMATION(id, description)  OPCODE_AUTOMATION, V(id), 
 #define AUTOSTART OPCODE_AUTOSTART,0,0,
@@ -238,12 +244,14 @@ const  FLASH  int16_t RMFT2::SignalDefinitions[] = {
 #define SERIAL3(msg) PRINT(msg)
 #define SERVO(id,position,profile) OPCODE_SERVO,V(id),OPCODE_PAD,V(position),OPCODE_PAD,V(PCA9685::profile),OPCODE_PAD,V(0),
 #define SERVO2(id,position,ms) OPCODE_SERVO,V(id),OPCODE_PAD,V(position),OPCODE_PAD,V(PCA9685::Instant),OPCODE_PAD,V(ms/100L),
+#define SERVO_SIGNAL(vpin,redpos,amberpos,greenpos)
 #define SERVO_TURNOUT(id,pin,activeAngle,inactiveAngle,profile,description...) OPCODE_SERVOTURNOUT,V(id),OPCODE_PAD,V(pin),OPCODE_PAD,V(activeAngle),OPCODE_PAD,V(inactiveAngle),OPCODE_PAD,V(PCA9685::ProfileType::profile),
 #define SET(pin) OPCODE_SET,V(pin),
 #define SET_TRACK_DC(track) OPCODE_SET_TRACK,V(128+track),
 #define SET_TRACK_DCC(track) OPCODE_SET_TRACK,V(track),
 #define SETLOCO(loco) OPCODE_SETLOCO,V(loco),
 #define SIGNAL(redpin,amberpin,greenpin) 
+#define SIGNALH(redpin,amberpin,greenpin) 
 #define SPEED(speed) OPCODE_SPEED,V(speed),
 #define START(route) OPCODE_START,V(route),
 #define STOP OPCODE_SPEED,V(0), 
diff --git a/version.h b/version.h
index 2889212..cb47614 100644
--- a/version.h
+++ b/version.h
@@ -3,7 +3,12 @@
 
 #include "StringFormatter.h"
 
-#define VERSION "4.0.1"
+
+#define VERSION "4.0.2"
+// 4.0.2 EXRAIL additions:
+//       Servo signals (SERVO_SIGNAL) 
+//       High-On signal pins (SIGNALH)
+//       Wait for analog value (ATGTE, ATLT)  
 // 4.0.1 EXRAIL BROADCAST("msg") 
 //       EXRAIL POWERON
 // 4.0.0 Major functional and non-functional changes.