pic: 2014 Team 48 Robot - xtremachen17

[Racer26]

So if I'm understanding correctly:

The cocking mechanism is wound up and released by spinning the motor in the same direction (until it hits the cut-off teeth, where release happens)?

Neat approach. I assume there'd have to be some position feedback on where the launcher is currently cocked to.

Also like the pneumatic claw rotater. How are you getting it to stop in the various positions mid-travel? Some sort of center-off valve? I'm sure you remember 1075's 2007 arm, where we had to do crazy things with multiple valves valving the exhaust because of pneumatics rules at the time.