[MrForbes]

Last part first, no, they are two separate parts of the robot, the smaller second cylinder is mounted to an arm at the top of the robot that lets the ball fly up when it is activated. The big cylinders at the bottom are what propel the ball up.

On the cylinders that propel the ball, they will have up to 60 psi in the 3" long portion between the piston and one end of the cylinders, and atmospheric pressure in the 7" portion between the piston and the other end. When the ball is released, the piston moves with the force of that 60 psi pushing on the piston, but as the piston nears the end of it's travel, the pressure on the other side will build up and slow down the action. Air does not need to enter or leave the cylinders to launch the ball.

This is hard to explain.....