diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index 326078101..cf45df709 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -1,6 +1,6 @@
 name: SensESP Automatic Build
 
-on: [push, pull_request]
+on: [pull_request]
 
 jobs:
   build:
diff --git a/src/sensesp/system/semaphore_value.h b/src/sensesp/system/semaphore_value.h
new file mode 100644
index 000000000..7896bc2fe
--- /dev/null
+++ b/src/sensesp/system/semaphore_value.h
@@ -0,0 +1,65 @@
+#ifndef SENSESP_SRC_SENSESP_SYSTEM_SEMAPHORE_VALUE_H_
+#define SENSESP_SRC_SENSESP_SYSTEM_SEMAPHORE_VALUE_H_
+
+#include "sensesp.h"
+
+#include <freeRTOS/semphr.h>
+
+namespace sensesp {
+
+/**
+ * @brief A value container wrapped in a semaphore.
+ *
+ * SemaphoreValue is primarily useful for synchronizing access to a value.
+ * It is a regular ValueConsumer that can receive values from a ValueProducer.
+ * However, the value is wrapped in a mutex, which can be waited on.
+ * This allows a thread to wait until the value is updated, making
+ * SemaphoreValue useful for synchronizing threads.
+ *
+ */
+template <typename T>
+class SemaphoreValue : public ValueConsumer<T> {
+ public:
+  SemaphoreValue() : ValueConsumer<T>() {
+    semaphore_ = xSemaphoreCreateBinary();
+  }
+
+  /**
+   * @brief Wait for the value to be updated.
+   *
+   * This method blocks until the value is updated.
+   *
+   */
+  bool wait(T& destination, unsigned int max_duration_ms) {
+    if (xSemaphoreTake(semaphore_, max_duration_ms / portTICK_PERIOD_MS) ==
+        pdTRUE) {
+      destination = value_;
+      return true;
+    }
+    return false;
+  }
+
+  /**
+   * @brief Take the semaphore, ignoring the value.
+   *
+   */
+  bool take(unsigned int max_duration_ms) {
+    return xSemaphoreTake(semaphore_, max_duration_ms / portTICK_PERIOD_MS) ==
+           pdTRUE;
+  }
+
+  void set(const T& new_value) override {
+    value_ = new_value;
+    xSemaphoreGive(semaphore_);
+  }
+
+  void clear() { xSemaphoreTake(semaphore_, 0); }
+
+ protected:
+  T value_;
+  SemaphoreHandle_t semaphore_;
+};
+
+}  // namespace sensesp
+
+#endif  // SENSESP_SRC_SENSESP_SYSTEM_SEMAPHORE_VALUE_H_