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I think you can provide constant power to them, we have been while operating our robot for about a week now. Constant power is the only way to keep the pneumatic in the outward state if the default is the retracted state.
We decided to use the single instead of the double because w/ the single we are always providing force in one direction or the other. When the pneumatic is in, it's being held in. And when the pneumatic is out, it's being held out.
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