For coding, I would use PID on the lift, while it doesn’t increase speed directly, it will keep the lift very stable which will put less stress on a certain motor. Which in turn will make your lift be able to go up easier. Also for your intake, using a passive intake out of polycarbonate plastic will reduce your weight of your lift. Also Turbo motors have little torque which will make the lift slowish, I would recommend using High speed motors (using high speed gearing) or even standard ones. We use standard motors on our lift without modification to the gearing, and we have a quick lift. Also we were using 35’ c-channels for our arm (the part that connect the arm to the tower) and we were pretty good as far as speed is goes. Definitely use 25’ c-channels for the part of the arm that connects the arm with the tower. We did have PID on everything so it was more stable.