Eloquent example by the way. Our team is in a similar position as you: we have a low bar robot that is attempting to scale. Now I don't know what the rest of your robot looks like, but what our team is doing is using a simple arm to lift a hook attached to a tether up to the bar and using a motor to "reel" in the hook. As far as a winch/ratcheting system, we are using a good old ratchet strap to ensure that the robot does crash down on the floor after the end of the match.
Of course this is an idea, but my advice to you (us being only a third year team and the memory of rookie year fresh in my head) is really make sure all of your other systems work perfectly before trying to tackle a scaler. If anything, make the scaler your post-build season project and bring it in to your competition and attach it there. The important hig is to perfect what you already have in your robot and practice driving.
Just my advice
