This is a draft sketch to illustrate the concept:

Orange

Stepper motor and gears. On the output gear will be a spool for the rope. As well as a magnet disk with 8x magnets in a circle. A quadrature encoder (2x hall-effect sensors) will be close to the magnet disk [not pictured]. Gear ratio is larger-to-smaller as the reeling needs to be fast.

Green & Yellow

Servo arm with an extension to pivot the rope guide loop. This moves the point of rotation for the rope.

Pinks

Rope (paracord). This will be wound on a spool, mounted on the output gear.

The focus is on the embedded system, so it's possible not all of these mechanical pieces won't be built. This was to show the concept from a mechanical perspective to give a better idea of the project purpose.