Quote:
Originally Posted by mman1506
I don't think that's correct. As Ari423 explained above both single solenoids and double solenoids can charge both sides of the pneumatic cylinder and neither setup requires a return spring in the cylinder. The only practical advantage of a double solenoid in FRC is that they won't return to a default state when the robot is powered off which can be useful in certain situations but certainly not shifting.
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If you'll excuse bad diagrams finger-drawn at 1am, here's how a double solenoid does shifting
and
Here's a single solenoid connected to the same shifter
A spring is needed since there can only be pneumatic actuation on one side. We wanted pneumatic actuation on both sides, so we used a double solenoid.