[NickE]

Originally Posted by Jeff 801

I know Team 254 used a different type of piston seen here http://www.team254.com/media/photos?func=detail&id=3146 and here http://www.team254.com/media/photos?func=detail&id=3133 and I want to say it was used to shift their drive system into natural

Yes, the 2010 rules on pneumatic cylinder choice were very relaxed so we were able to use more complicated cylinders. Note that 3-position cylinders will require more than a standard single or double solenoid valve (we used two single solenoids).

Also, back in 2008, we used a center-closed pneumatic solenoid from SMC. This solenoid allowed us to hold our intake arm in the middle of its stroke.