Evals / Elevator

Motor + pulley elevator — lumped-model simulation

The industry-style version: motor ODE (M-class LEGO constants) + winch + rope as a mode-switching lumped model — taut (one shared DOF), slack (free fall when the drum pays out faster than the car drops), and inelastic snap re-engagement. Try: heavy load at 1:1 → stall; switch to 9:1 → it lifts, slowly. Set voltage to 0 mid-air → the load back-drives the motor and creeps down against EMF braking + friction. Slam to −9V while high up → slack rope, free fall, snap.