[OccamzRazor]

3506 is using a Mini-CIM on a vex versa planetary gearbox with a ratio of 63:1 on a 2" diameter spool. We realize most teams forget this but when the power to your robot shuts off you need a brake to keep your robot from back driving so we used a small pneumatic cylinder as a brake. It deploys into a cam attached to the winch spool shaft to stop the decent of our robot when the power shuts off.

We had the fastest and most reliable climber at the event with this setup but we did have a small failure on one of the sun gears that we are not sure about. It might have been overloaded, it might have been a defect but either way we had to take the gearbox apart and put a new stage in right before finals.