Winch Requirements

• Winch must be able to turn both ways until end of match when wrench in spokes in engaged
• Winch will slightly turn backwards to maintain tension on the rope while lift is moving
• When wrench in spokes is engaged, the winch will not turn backwards
• Use current control mode on talons
• Read current on console
• Winch will only have one climbing speed
• Must be able to climb at least one foot in less than 5 seconds
• The winch will turn when operator presses button and will stop when operator releases button
• Ultrasonic sensor will be used to measure hook’s distance to the rung
• Robot will stop for 0.5 second when in correct distance to rung
• Driver Station will be notified and Distance will be printed continuously
• Operator will confirm distance and deploy hook
• Deploying hook most likely pneumatics