[James Juncker]

If you are using some system I would recommend the use of a micro switch at the end of a lift should you go with that method to measure the time from start to stop. Similarly I would recommend to lift weight as the motors won't be used at their no load ability on a robot. I also think that some consideration ought to be given to building a gearbox to change motors in and out of and measuring their individual power consumed and difference in speed.