Ok so after tons of thought and lots of undo or redo or deleting of things I made a working anchor windlass for my Darby.
The windlass itself is static, but under the deck I put a motor and servo with some linkage and other things I don't know what to call them. Free falling and powered retrieval is real neat. The only problem I have is that the motor and gearbox are to fast at 12 volts and looks stupid when retrieving the anchor, so I went to just running 3 volts on it. The looks are ok just not quite enough torque for smooth operation. I’m looking to get a new motor and gearbox.