[liam.larkin]

Staplemonx

Lets throw out your first circuit things like diodes and logic circuits are not allowed on the minibot per rule R92

My first question is why are you trying to even have a 5% mode. I gather you think it is required to keep the minibot at the top after you make contact with the scoring disc. This is not a requirement.
Or does this 5% mode keep the robot on the pole like you are using one of the motors to grasp around the pole?? However if I am inferring correctly I dont think this is the case. So I really believe you can throw this 5% mode out the "design window".

In this case here is my reccomendation. Limit switch in series with the battery and circuit. It is in its normally open position. When the minibot makes contact with the pole it closes the switch initiating your entire circuit.

Additionally you have a normal light switch somewhere at the top of the minibot with a little plate or finger of some sort pointing up. This switch is in its normal on/closed position and is in series with your motors.

As your robot climbs the pole this finger makes contact with plate setting of the scoring system and simutaneously moving the switch to the off position. This cuts the power to your motors. If you are worrying about the minibot not coming back down and not being able to get at it. I would recommend hooking the switches' off position in such a manner as to shunt the motors. This should get them to back drive when power is cut and the robot will "coast" back to the ground.

NO NXT or speed controllers.