[Alan Anderson]

I'll answer quickly the questions I can.

Pneumatics:

1. Spike relays are controlled using the Relay palette. Period.

3. Relays give a way to provide either power or ground (*) to a circuit. The Spikes are dual relay modules, and that makes them good for controlling a low-current motor in either direction.

4. I might do this by putting something in the Periodic Tasks vi to note the time when the robot goes into Teleoperated mode, then activate the pressure release after 118 seconds have elapsed.

Encoders:

1. See the LabVIEW Encoder Example. It has exactly what you asked for.

2. Provide a DistancePerCount when you Open the encoder.

General Knowledge:

1. Implementing such a toggle function is easy to do, but hard to describe. Look at Feedback Nodes, which can be used to do something only when an input changes value.