What about stepper motors? A computer could control the amount and direction of shaft rotation and you would not need the micro switches at all.
Back when I built it (around 1998), small stepper motors were a lot more expensive; multiply everything by four, and it was budget-busting. Plus, there weren't many with "plug and play" controllers, and I didn't have sufficient skills for a DIY stepper motor system. Not to mention that having to make a PC available to run it was out of the question.
I'm in the process of building a new excavator--the original is suffering from progressive arthritis, and it's terminal; it will be easier to start over than to keep the poor old beastie running. I've thought about using steppers, but I still prefer the simplicity of plain old DC gearhead motors; I can use much smaller ones this time around, and the limit switches are a lot less trouble than they may appear. Best of all, the whole thing will again be powered and controlled by one small handheld box.
I've got most of the ingredients I need on hand, and I intend to document its construction in a video series. The one commodity I lack right now is time...