diff --git a/.ci b/.ci
index 12d7698..5764601 160000
--- a/.ci
+++ b/.ci
@@ -1 +1 @@
-Subproject commit 12d769835e1ee88e94b5b0b4bc0cf7068e678064
+Subproject commit 576460163031255c09948566dd2f2409d86ab8d4
diff --git a/.ci-local/github-actions/post-prepare.py b/.ci-local/github-actions/post-prepare.py
new file mode 100755
index 0000000..7dccc49
--- /dev/null
+++ b/.ci-local/github-actions/post-prepare.py
@@ -0,0 +1,70 @@
+#!/usr/bin/env python
+
+import os
+import shutil
+import re
+
+# Setup ANSI Colors (copied from cue.py)
+ANSI_RED = "\033[31;1m"
+ANSI_GREEN = "\033[32;1m"
+ANSI_YELLOW = "\033[33;1m"
+ANSI_BLUE = "\033[34;1m"
+ANSI_MAGENTA = "\033[35;1m"
+ANSI_CYAN = "\033[36;1m"
+ANSI_RESET = "\033[0m"
+ANSI_CLEAR = "\033[0K"
+
+def cat(filename):
+    '''
+    Print the contents of a file
+    '''
+    with open(filename, 'r') as fh:
+        for line in fh:
+            print(line.strip())
+
+def sanity_check(filename):
+    '''
+    Include the contents of a file in the github-actions log
+    '''
+    print("{}Contents of {}{}".format(ANSI_BLUE, filename, ANSI_RESET))
+    cat(filename)
+    print("{}End of {}{}".format(ANSI_BLUE, filename, ANSI_RESET))
+
+if 'HOME' in os.environ:
+    # Linux & OS X
+    cache_dir = os.path.join(os.environ['HOME'], ".cache")
+else:
+    # Windows
+    cache_dir = os.path.join(os.environ['HOMEDRIVE'], os.environ['HOMEPATH'], ".cache")
+
+module_dir = os.getenv('GITHUB_WORKSPACE')
+
+# Copy the github-actions RELEASE.local to the configure dir
+filename = "configure/RELEASE.local"
+shutil.copy("{}/RELEASE.local".format(cache_dir), filename)
+
+# Get the variable from the example release file
+example = "configure/EXAMPLE_RELEASE.local"
+fh = open(example, "r")
+lines = fh.readlines()
+fh.close()
+pObj = re.compile('(MOTOR_[^=]+)')
+module_var = None
+for line in lines:
+    mObj = pObj.match(line)
+    if mObj != None:
+      module_var = mObj.group()
+      break
+
+# Add the path to the driver module to the RELEASE.local file, since it is needed by the example IOC
+fh = open(filename, "a")
+fh.write("{}={}\n".format(module_var, module_dir))
+fh.close()
+sanity_check(filename)
+
+# Enable the building of example IOCs
+filename = "configure/CONFIG_SITE.local"
+fh = open(filename, 'w')
+fh.write("BUILD_IOCS = YES")
+fh.close()
+sanity_check(filename)
diff --git a/.ci-local/github-actions/sanity-check.py b/.ci-local/github-actions/sanity-check.py
new file mode 100644
index 0000000..4e32f6d
--- /dev/null
+++ b/.ci-local/github-actions/sanity-check.py
@@ -0,0 +1,9 @@
+#!/usr/bin/env python
+
+import os
+import pprint
+
+pprint.pprint(dict(os.environ), width = 1)
+
+#!print("{}", breakmehere)
+
diff --git a/.ci-local/modules.set b/.ci-local/modules.set
index 60db10d..d62ebf7 100644
--- a/.ci-local/modules.set
+++ b/.ci-local/modules.set
@@ -1,9 +1,9 @@
 MODULES="sncseq ipac asyn autosave busy motor"
 
-SNCSEQ=R2-2-8
+SNCSEQ=R2-2-9
 IPAC=master
-ASYN=R4-38
-AUTOSAVE=R5-9
-BUSY=R1-7-1
+ASYN=R4-42
+AUTOSAVE=R5-10-2
+BUSY=R1-7-3
 MOTOR=master
 MOTOR_RECURSIVE=NO
diff --git a/.github/workflows/ci-scripts-build-full.yml b/.github/workflows/ci-scripts-build-full.yml
new file mode 100644
index 0000000..707a4d5
--- /dev/null
+++ b/.github/workflows/ci-scripts-build-full.yml
@@ -0,0 +1,210 @@
+# .github/workflows/ci-scripts-build.yml for use with EPICS Base ci-scripts
+# (see: https://github.com/epics-base/ci-scripts)
+
+# This is YAML - indentation levels are crucial
+
+# Set the 'name:' properties to values that work for you (MYMODULE)
+
+name: "GHA full build"
+
+# Only run manually
+on:
+  workflow_dispatch
+
+env:
+  SETUP_PATH: .ci-local:.ci
+  # For the sequencer on Linux/Windows/MacOS
+  APT: re2c
+  CHOCO: re2c
+  BREW: re2c
+
+jobs:
+  build-base:
+    name: ${{ matrix.name }}
+    runs-on: ${{ matrix.os }}
+    # Set environment variables from matrix parameters
+    env:
+      CMP: ${{ matrix.cmp }}
+      BCFG: ${{ matrix.configuration }}
+      WINE: ${{ matrix.wine }}
+      RTEMS: ${{ matrix.rtems }}
+      RTEMS_TARGET: ${{ matrix.rtems_target }}
+      EXTRA: ${{ matrix.extra }}
+      TEST: ${{ matrix.test }}
+      SET: ${{ matrix.set }}
+    strategy:
+      fail-fast: false
+      matrix:
+        # Job names also name artifacts, character limitations apply
+        include:
+          - os: ubuntu-20.04
+            cmp: gcc
+            configuration: default
+            wine: "64"
+            base: "7.0"
+            set: modules
+            name: "Ub-20 gcc-9 + MinGW"
+
+          - os: ubuntu-20.04
+            cmp: gcc
+            configuration: static
+            wine: "64"
+            base: "7.0"
+            set: modules
+            name: "Ub-20 gcc-9 + MinGW, static"
+
+          - os: ubuntu-20.04
+            cmp: gcc
+            configuration: static
+            extra: "CMD_CXXFLAGS=-std=c++11"
+            base: "7.0"
+            set: modules
+            name: "Ub-20 gcc-9 C++11, static"
+
+          - os: ubuntu-20.04
+            cmp: clang
+            configuration: default
+            extra: "CMD_CXXFLAGS=-std=c++11"
+            base: "7.0"
+            set: modules
+            name: "Ub-20 clang-10 C++11"
+
+          ### fails building autosave
+          #!- os: ubuntu-20.04
+          #!  cmp: gcc
+          #!  configuration: default
+          #!  rtems: "4.10"
+          #!  base: "7.0"
+          #!  set: modules
+          #!  name: "Ub-20 gcc-9 + RT-4.10"
+
+          - os: ubuntu-20.04
+            cmp: gcc
+            configuration: default
+            rtems: "4.9"
+            base: "7.0"
+            set: modules
+            name: "Ub-20 gcc-9 + RT-4.9"
+
+          ### fails building asyn
+          #!- os: ubuntu-20.04
+          #!  cmp: gcc
+          #!  configuration: default
+          #!  rtems: "5"
+          #!  rtems_target: RTEMS-pc686-qemu
+          #!  base: "7.0"
+          #!  set: modules
+          #!  name: "Ub-20 gcc-9 + RT-5.1 pc686"
+
+          ### fails building autosave
+          #!- os: ubuntu-20.04
+          #!  cmp: gcc
+          #!  configuration: default
+          #!  rtems: "5"
+          #!  rtems_target: RTEMS-beatnik
+          #!  test: NO
+          #!  base: "7.0"
+          #!  set: modules
+          #!  name: "Ub-20 gcc-9 + RT-5.1 beatnik"
+
+          - os: ubuntu-18.04
+            cmp: gcc
+            configuration: default
+            base: "7.0"
+            set: modules
+            name: "Ub-18 gcc-7"
+
+          ### g++-8 not found
+          #!- os: ubuntu-18.04
+          #!  cmp: gcc-8
+          #!  utoolchain: true
+          #!  configuration: default
+          #!  base: "7.0"
+          #!  set: modules
+          #!  name: "Ub-18 gcc-8"
+
+          #!- os: ubuntu-20.04
+          #!  cmp: gcc-8
+          #!  utoolchain: true
+          #!  configuration: default
+          #!  base: "7.0"
+          #!  set: modules
+          #!  name: "Ub-20 gcc-8"
+
+          - os: ubuntu-20.04
+            cmp: clang
+            configuration: default
+            base: "7.0"
+            set: modules
+            name: "Ub-20 clang-10"
+
+          - os: macos-latest
+            cmp: clang
+            configuration: default
+            base: "7.0"
+            set: modules
+            name: "MacOS clang-12"
+
+          - os: windows-2019
+            cmp: gcc
+            configuration: default
+            base: "7.0"
+            set: modules
+            name: "Win2019 MinGW"
+
+          - os: windows-2019
+            cmp: gcc
+            configuration: static
+            base: "7.0"
+            set: modules
+            name: "Win2019 MinGW, static"
+
+          - os: windows-2019
+            cmp: vs2019
+            configuration: default
+            base: "7.0"
+            set: modules
+            name: "Win2019 MSC-19"
+
+          - os: windows-2019
+            cmp: vs2019
+            configuration: static
+            base: "7.0"
+            set: modules
+            name: "Win2019 MSC-19, static"
+
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Automatic core dumper analysis
+      uses: mdavidsaver/ci-core-dumper@master
+    - name: "apt-get install"
+      run: |
+        sudo apt-get update
+        sudo apt-get -y install qemu-system-x86 g++-mingw-w64-x86-64 gdb
+      if: runner.os == 'Linux'
+    - name: "apt-get install ${{ matrix.cmp }}"
+      run: |
+        sudo apt-get -y install software-properties-common
+        sudo add-apt-repository -y ppa:ubuntu-toolchain-r/test
+        sudo apt-get update
+        sudo apt-get -y install ${{ matrix.cmp }}
+      if: matrix.utoolchain
+    - name: Sanity Check
+      run: python .ci-local/github-actions/sanity-check.py
+    - name: Prepare and compile dependencies
+      run: python .ci/cue.py prepare
+    - name: Patch main module
+      run: python .ci-local/github-actions/post-prepare.py
+    - name: Build main module
+      run: python .ci/cue.py build
+    - name: Run main module tests
+      run: python .ci/cue.py test
+    - name: Upload tapfiles Artifact
+      uses: actions/upload-artifact@v2
+      with:
+        name: tapfiles ${{ matrix.name }}
+        path: '**/O.*/*.tap'
+    - name: Collect and show test results
+      run: python .ci/cue.py test-results
diff --git a/.github/workflows/ci-scripts-build.yml b/.github/workflows/ci-scripts-build.yml
new file mode 100644
index 0000000..ee404d8
--- /dev/null
+++ b/.github/workflows/ci-scripts-build.yml
@@ -0,0 +1,103 @@
+# .github/workflows/ci-scripts-build.yml for use with EPICS Base ci-scripts
+# (see: https://github.com/epics-base/ci-scripts)
+
+# This is YAML - indentation levels are crucial
+
+# Set the 'name:' properties to values that work for you (MYMODULE)
+
+name: "GHA build"
+
+# Trigger on pushes to the master branch and PRs
+on:
+  push:
+    paths-ignore:
+      - 'documentation/*'
+      - '**/*.html'
+      - '**/*.md'
+      - '.github/workflows/ci-scripts-build-full.yml'
+    branches:
+      - master
+  pull_request:
+
+env:
+  SETUP_PATH: .ci-local:.ci
+  # For the sequencer on Linux/Windows/MacOS
+  APT: re2c
+  CHOCO: re2c
+  BREW: re2c
+
+jobs:
+  build-base:
+    name: ${{ matrix.name }}
+    runs-on: ${{ matrix.os }}
+    # Set environment variables from matrix parameters
+    env:
+      CMP: ${{ matrix.cmp }}
+      BCFG: ${{ matrix.configuration }}
+      WINE: ${{ matrix.wine }}
+      RTEMS: ${{ matrix.rtems }}
+      RTEMS_TARGET: ${{ matrix.rtems_target }}
+      EXTRA: ${{ matrix.extra }}
+      TEST: ${{ matrix.test }}
+      SET: ${{ matrix.set }}
+    strategy:
+      fail-fast: false
+      matrix:
+        # Job names also name artifacts, character limitations apply
+        include:
+          - os: ubuntu-20.04
+            cmp: gcc
+            configuration: default
+            base: "7.0"
+            set: modules
+            name: "7.0 Ub-20 gcc-9"
+        
+          - os: macos-latest
+            cmp: clang
+            configuration: default
+            base: "3.15"
+            set: modules
+            name: "3.15 MacOS clang-12"
+
+          - os: windows-2019
+            cmp: vs2019
+            configuration: static
+            base: "3.15"
+            set: modules
+            name: "3.15 Win VS2019, static"
+
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Automatic core dumper analysis
+      uses: mdavidsaver/ci-core-dumper@master
+    - name: "apt-get install"
+      run: |
+        sudo apt-get update
+        sudo apt-get -y install qemu-system-x86 g++-mingw-w64-x86-64 gdb
+      if: runner.os == 'Linux'
+    - name: "apt-get install ${{ matrix.cmp }}"
+      run: |
+        sudo apt-get -y install software-properties-common
+        sudo add-apt-repository -y ppa:ubuntu-toolchain-r/test
+        sudo apt-get update
+        sudo apt-get -y install ${{ matrix.cmp }}
+      if: matrix.utoolchain
+    - name: Sanity Check
+      run: python .ci-local/github-actions/sanity-check.py
+    - name: Prepare and compile dependencies
+      run: python .ci/cue.py prepare
+    - name: Patch main module
+      run: python .ci-local/github-actions/post-prepare.py
+    - name: Build main module
+      run: python .ci/cue.py build
+    - name: Run main module tests
+      run: python .ci/cue.py test
+    - name: Upload tapfiles Artifact
+      uses: actions/upload-artifact@v2
+      with:
+        name: tapfiles ${{ matrix.name }}
+        path: '**/O.*/*.tap'
+    - name: Collect and show test results
+      run: python .ci/cue.py test-results
diff --git a/README.md b/README.md
index 64342a1..bdfae9f 100644
--- a/README.md
+++ b/README.md
@@ -1,7 +1,8 @@
 # motorAcs
 EPICS motor drivers for the following [Advanced Control Systems Corporation](http://www.acsmotion.com) controllers: MCB-4B
 
-[![Build Status](https://travis-ci.org/epics-motor/motorAcs.png)](https://travis-ci.org/epics-motor/motorAcs)
+[![Build Status](https://github.com/epics-motor/motorAcs/actions/workflows/ci-scripts-build.yml/badge.svg)](https://github.com/epics-motor/motorAcs/actions/workflows/ci-scripts-build.yml)
+<!--[![Build Status](https://travis-ci.org/epics-motor/motorAcs.png)](https://travis-ci.org/epics-motor/motorAcs)-->
 
 motorAcs is a submodule of [motor](https://github.com/epics-modules/motor).  When motorAcs is built in the ``motor/modules`` directory, no manual configuration is needed.