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Re: can we control the amount of air to control the speed of the cylinder?
Sounds like you need a series of reduction regulators to each distinct cylinder. The balancing act is the hardest. Maybe make a test pressure dongle to a T and check each leg, then tune it up.
We learned more about pneumatics in 5 weeks than we ever knew. Our robot works with one speed going up and a different speed going down.
Thanks to everyone for their info 
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2008 LA Regional
2009 San Diego Regional 5th Seed, 2009 Las Vegas Regional Semi-Finalist
2010 San Diego and LA
2011 Bound for same
KQ6Y
Scientia Super Omnia
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