[generalbrando]

If you are having trouble with a motor unraveling, the you could design a simple locking mechanism. If you attach a small wheel to the shaft the motor drives and have that wheel have some sort of holes in the side (like spokes maybe) - then all you have to do it put a small pneumatic next to it and send it out into the wheel when you want to lock it in place. I'm sure there are countless other ways to lock a motor. My point is really just that you could lock it instead of worrying about the rules.

Also, if you intend on pulling yourself up high, you might want to put an extension on your tether that's near the outside bottom of the bot. Yes, they can lower the bar, but it would save you a lot of time if you could tether yourself down.