Check your spike...make sure its working. Dig out a DMM and check continuity through the circuit from the breaker all the way to the solenoid
(with the robot powered off). Also, check to make sure your PWM cable is attached to the spike...those things can be a pain in the neck.

If your software compiled correctly it really shouldn't be a software error, its more likely to be a wiring issue


Just something to try if you get time or for future reference:
...also if you are just using a single double solenoid you can make life a lot easier and your robot lighter by using a single solenoid.

Tie both commons to a common ground point on your control panel, and then tie the positive lead from the side which causes the spike to shoot out to M+ and the red positive lead on the side that causes it to shoot in to M-.

then hook a single PWM cable up to PWM 1 and change your code to this:

relay1_fwd = p1_sw_aux1;
relay1_rev = p1_sw_aux2;