[JoelP]

What you have to do in the code is put in an if statement that will switch between the 2 positions on the pneumatics, but since the loop executes every 26ms(approx.) you'll also need to include a latch to prevent this.

The following code is similar to what my team did for this:

  if(p1_sw_top == 1 && button_latch==0) //button_latch is a variable to
// prevent the code from rapidly cycling through piston positions
  {
	if(relay1_rev==1)//if the relay is reversed it will switch to forward
	{
	  relay1_fwd=1;
	  relay1_rev=0;
	  button_latch=1;
	}
	else          //and vice versa
	{
	  relay1_fwd=0;
	  relay1_rev=1;
	  button_latch=1;//latches to prevent cycling
	}
  }
  else if(p1_sw_top == 0 && button_latch==1)
  {
	button_latch=0;//resets latch when you let go of the button
  }