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Originally Posted by SerpentEagle
Yeah we were planning for that since the start of the season, but we never got to it for the lift. Even if its included, I don't think we will have the time to make use of it for automated actions, but If our programmer is confident, then ill go ahaid and add it on. Speaking about back drive, I'm still trying to find something like a break, ratchet, etc. Worm gear is kind of debatable for us since our original lift design used one, but slight miss alignments and improper lubrication caused huge amounts of friction. If anyone can give me some ideas that would be awesome.
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Adding an encoder and PID controlling the elevator position is arguably the best way to do this. Trades mechanical complexity for controls complexity, but saves weight and allows students to learn basics of controls engineering.
Keep in mind that you'll be stalling the gearbox motors, so keep your current draw well below 40 amps. I wouldnt worry about CIM motors overheating, but breakers like to blow if you keep them hot for a while.