It's really not my program; I just played around a bit with the demo code on that awesome Recursive Labs Blog post I mentioned yesterday. Nothing too fancy, I mainly added a few threads so the four LEDs would flash independently:

The program is designed to emulate out-of-sync turn signals at a stop light, as discussed in an old xkcd:

(original link to xkcd's page with the above comic)

The program is in the GimbalBot Dropbox folder under 'firmware'; if you're bored, take a look and let me know what you think.