This is the winch that our team will be using for puling back our catapult. We are using a Ball shifter output shaft with the 60T gear removed. We have 3d-printed encoder gears and plate based on the 2 cim ball shifter as well as a 3d-printed shifter shaft coupler. There is also a ratchet on the first stage based off of the robot in 3 days design.
Thanks to Paul Copioli for the advice on the ball shifter and Ri3d for the back drive idea.