# winch

Define a winch component to parametrize the definition of a cable system.

## Syntax

winch(Dc,Ml,Ro,W,Lo)

out = winch(...)

## Inputs

`Dc`- Cable diameter.
`Ml`- Cable mass or unit length.
`Ro`- Empty radius.
`W`- Width.
`Lo`- Wrapped length.

## Outputs

`out`- Output

## Examples

Example with output argument.

```
Dc = 10;
Ml = 1;
Ro = 50;
W = 100;
Lo = 2*pi* (0.01 * 55 + 0 * 62.5 + 0 * 70);
out = winch(Dc,Ml,Ro,W,Lo);
disp(out);
```

`[Matrix] 1 x 3
55.00750 -49.90000 9547.94027`

## Comments

This function is used along with pulley and tangent to parametrize the definition of a cable system.