[Al Skierkiewicz]

H,
I have to ask why you don't want to use the speed controllers which are designed for exactly your purpose. If it is your intent to make the lift automatic you can easily write forward and reverse commands into your code. Depending on the motor you choose, the rules have specific requirements as to which device can be used to control the motor.

<R55> All electrical loads (motors, actuators, compressors) must be supplied by an approved power regulating device (speed controller, relay module, or Digital Sidecar PWM port) that is controlled by the cRIO-FRC on the ROBOT.
A. Each CIM motor and Fisher-Price motor must be connected to one and only one approved speed controller. These motors must not be connected to relay modules.
B. Servos must be directly connected to the PWM ports on the Digital Sidecar. They must not be connected to speed controllers or relay modules.
C. If used, the compressor must be connected to one and only one Spike relay module.
D. Each other electrical load (motor or actuator) must be supplied by one and only one approved speed controller, or one and only one relay module.

Hope this helps.