These are photos of my homebrew motor drives in my Pulsar 2.2 metre observatory. The motors are controlled using the Lesvedome ASCOM driver software. I used stepper motors but most people use basic geared DC motors. The shutter drive is powered by a 26 volt LiFePO4 battery. When the dome is in the parked position, the battery is automatically recharged. The dome drive motor uses power from a mains-driven14 volt 20 amp DC PSU. The shutter drive connects to the main controller via wireless, using XBee modules. The main controller has a safety system built in that performs start-up checks for the dome and shutter latches and shutter battery voltage. It also connects to a Hydreon rain sensor and a cloud gauge and will close the shutter if unsafe conditions are detected.
I am happy to try and answer any questions if anyone would like more information.