To account for the time it takes for the climber pin to mechanically engage the sprocket, add logic to pulse the motor for about 200ms (make it calibratable) for some voltage value to attempt to hold the robot in place (make it calibratable). After the duration, set it back to zero.
To account for the time it takes for the climber pin to mechanically engage the sprocket, add logic to pulse the motor for about 200ms (make it calibratable) for some voltage value to attempt to hold the robot in place (make it calibratable). After the duration, set it back to zero.