Vexcode Pneumatics Compressed

VEXcode V5
Pneumatics
By: Mr. Gravitt
Pneumatics (pronounced new-MATT-ix)
• Using Pressurized/Compressed Air to
cause a mechanical action.
• In this kit used to actuate mechanical
cylinders.
• Goes from STOP to STOP, which means
that it cannot actuate just a little bit, it
goes full length of the cylinder, from
open to closed, close to open, but does
it Really Quickly!
Important Note:
The effectiveness of the V5 Pneumatics System
largely relies on the O-Rings and fitting connections.
O-Rings are small, black, rubber-like rings found on
each M5 thread of the fittings, Schrader valves, etc.,
and they help to create a tight seal to prevent air
leaks. These are further optimized by the flow of
pressurized air. When assembling, there's no need
for tools — hand-tightening components ensures a
secure connection. Over-tightening using tools can
lead to damage, so always handle components with
care to ensure longevity and proper function.
The V5 Pneumatics Kit can be broken down into 7 different
functional categories. These categories include the following and are
listed in order of importance from the initial pressurization of air and
ending with the actuation of mechanical parts:
• Reservoir: this includes components related to the
influx and storage of compressed air in the system.
• Pressure Monitor: this includes devices used to
regulate and monitor the air pressure in the
system.
• Fittings: this category is for various types of
connectors and plugs used to join tubes together
or to connect them to different parts of the
system.
• Tubing: this category is for components related to
the flexible tubes that carry the air in a pneumatic
system.
• Manual Control: this category contains devices
that allow for manual control of the airflow in the
system.
• Electronic Control: this category is for components
that provide electronic control over the system.
• Cylinders: this is where the mechanical work
happens in a pneumatic system. Cylinders use the
energy of the compressed air to create motion.
V5 Pneumatics Kit (276-8750) Contents List:
• (1) 75mm Stroke • (2) Double Acting Solenoid
Pneumatic Cylinder Driver Cables
• (1) 50mm Stroke • (2) Double Acting Solenoids
Pneumatic Cylinder • (1) Shut Off Valve Fitting
• (1) 25mm Stroke • (8) Elbow Fittings
Pneumatic Cylinder • (5) Tee Fittings
• (1) Air Tank 200mL • (2) Air Flow Valve Fittings
• (1) Air Pressure Gauge • (10) Straight Male Fittings
• (1) Air Pressure Regulator • (1) Straight Female Fittings
• (1) Air Pressure Regulator • (1) Valve Stem
Mounting Bracket • (10) 4mm Plugs
• (1) Tubing Cutter • (3 Meters) 4mm Tubing
Pneumatics Kit Specs:
Force & Pressure:
• System Pressure:
689 kN/m^2 (100
psi)
• Cylinder Bore: 10
mm (0.394 in)
• Max Force: 54 N
(12 lbf)
Air Tanks:
• 315 g (0.694 lbs)
• Our Tanks Says it

has a Pressure
TheLimit of 150PSI?
Air Tank is a cylindrical vessel for storing pressurized air. It has
two ports which can accept different fittings. One port would contain
the Valve Stem which serves as the inlet. The other port will be used
as an outlet and can accept one of the other fittings listed below. The
Air Tank can be attached to your robot or project using zip ties.
Remember, just like you'd need to recharge a battery when it's
running low, you need to refill the Air Tank when it's low on air. And,
just like turning off a machine when you're done using it, you should
also let the air out of the tank after you're done.
Valve Stem:
• AKA Schrader
Valve
• M5 Thread
Straight Fitting
The Valve Stem is a small gold colored part that looks like the
pressure inlet on a bike or car tire (formally called a Schrader Valve).
It's important for getting your pneumatic system ready to go. You can
screw it securely into the Air Tank or the Straight Female Fitting using
its M5 thread. This is a one-way valve that lets air in, but not out,
meaning as soon as you remove your pump from the valve, it closes
to keep the air in. You can release the air from your Air Tank by
pushing the pin in the center of the Valve Stem.
The Pneumatic Cylinder, which comes in 3 sizes in the Kit, turns pressurized
air into a back-and-forth motion and can extend (push) and retract (pull)
because it has a dual-acting feature. The "stroke length," or how far the
cylinder moves in one cycle, is different for each size, so it can fit different
project needs. You connect the Cylinder to the Tubing using a Straight Male,
Elbow Pneumatic Fitting, or Air Flow Valve Fitting. This makes a setup that
turns air pressure into movement. Remember, the more pressure you supply
to the cylinder, the stronger the force it exerts - so more pressure means
more force. The piston rod of the Cylinders features an #8-32 thread,
making it compatible with standard VEX hardware.
25mm Stroke Pneumatic Cylinder:

• 112 mm Compressed / 137mm
Extended
• Weight of 33 g (0.073 lbs)
• Actuations at 30psi Regulated = 80
Cycles

Extended
Cycles

Extended
Cycles
The Air Pressure Regulator in your system is like a
control knob for the air pressure. Adjusting the air
pressure allows the Cylinders to operate at a constant
force as the pressure in the Air Tank decreases. For
example, if the Air Tank is initially pressurized to
100psi, the pressure in the tank reduces with each
actuation of a Cylinder. Without a pressure regulator,
the force of the Cylinder will not be consistent - it will
reduce as the pressure in the Air Tank reduces. If you set the regulator to
50psi for example, the force of the cylinder will be consistent for all
actuations until the Air Tank pressure drops below 50psi. So, by regulating
the pressure, the Cylinders will operate with less force, but with more
consistency. You will also get more actuations from the Cylinders before the
air runs out. You can connect parts called fittings to the regulator's inlet
(where the air comes in denoted by an embossed triangle) and outlet
(where the air goes out). Then, you can change the pressure of the air that's
leaving by turning the black dial. This makes sure that the pressure doesn't
go above a certain limit.
Air Pressure Gauge:
• Straight Female Fitting or
• M5 Thread Straight Fitting
The Air Pressure Gauge in your system is like a

meter that tells you how much pressure is in the Air
Tank, or system depending where it is mounted. It's
usually put before the Regulator and helps you see
the total pressure. The Gauge has an M5 thread, so
you can connect it to the Straight Female Fitting or
straight into any M5 hole, like one on the Air Tank.
The Air Pressure
Regulator Bracket - is
used to mount the Air
Pressure Regulator to
your robot.
Remove the black nut near the knob of the Air Pressure
Regulator and slide the bracket on. Then replace the nut
and tighten to hold the Air Pressure Regulator to the
Bracket. The Bracket can be attached to your robot using
standard VEX hardware.
Straight Female Fitting:
The Straight Female Fitting is used when you need to

connect a male M5 thread to a piece of Tubing. For
example, the Air Pressure Gauge can be connected
using this part. The male M5 thread of the device can
be screwed to the female thread of this fitting. The
Tubing is then a push-fit into the red end of the fitting.
To release the Tubing from the fitting, press the red
release button and remove the Tubing.
Straight Male Fitting:
The Straight Male Fitting is used when you need to

connect Tubing to an Air Tank, Air Pressure Regulator,
Solenoid or Cylinder. Screw the M5 thread into the
device that you need to connect to the Tubing. The
Tubing is then a push-fit into the red end of the fitting.
To release the Tubing from the fitting, press the red
release button and remove the Tubing.
Straight Male Fitting: Straight Female
• M5 Thread Sticking Fitting:
Out of the Fitting • M5 Thread Are
Inside the Fitting
VS.
90° Fitting:
• M5 Thread Fitting
• 4mm Hose Other End
The Elbow Fitting is similar to the Straight Male Fitting,
but the Tubing exits at a 90-degree angle. The M5
thread can be screwed into the device that you need to
connect the Tubing to. The Tubing is then a push-fit into
the red end of the fitting. To release the Tubing from
the fitting, press the red release button and remove the
Tubing. The Elbow Fitting also has a mounting hole
which can be used for securing it to your robot.
90° Fitting With Valve:
• M5 Thread Fitting
• 4mm Hose Other End
• Plus a Knurled Knob the controls the valve
The Air Flow Valve Fitting is used to control the speed at
which your Air Cylinders move. Unlike the Air Pressure
Regulator which controls the force of the Air Cylinder
movement, the Air Flow Value controls the flow rate
which affects speed. The Air Flow Value is usually fitted
to a port on the Air Cylinder for which you want to
control the speed.
90° Fitting: 90° Valve Fitting:
• M5 Thread Sticking • M5 Thread Sticking
Out of the Fitting Out of the Fitting
• 4mm Hose • 4mm Hose Connector
Connector • Plus a Valve w/Knob
VS.
90° Tee Fitting:
• Has (3) 4mm Hose Fittings
The Tee Fitting, which is named for its "T" shape, lets you
connect 3 pieces of Tubing together in your pneumatic
system. For example, you might use it to connect the Air
Tank, Air Pressure Gauge and use the third outlet to supply
air to the rest of the system. The Tubing is a push-fit into
the red end of the fitting. To release the Tubing from the
fitting, press the red release button and remove the Tubing.
The Tee Fitting has two mounting holes which can be used
for securing it to your robot.
4mm Plug:
• Male 4mm Hose Plug
The 4mm Plug, which has a solid black tube on one side and a
small handle on the other side, is a useful tool for closing off
open ends in your pneumatic system. It fits tightly into any
Pneumatic Fitting that isn't being used and is the same size as
your tubing. This is useful for parts like the Solenoid where
unused outputs could let air escape. Instead of having to reroute
extra tubing with a Tee Fitting, you can put this plug straight into
a Fitting to stop the airflow. This makes sure all the pressurized
air stays in your system, providing a way to save space and use
your system efficiently.
4mm High Pressure Tubing:
• 4mm hose that can handle
high psi air pressure
The 4mm Outer Diameter x 2.5mm Inner Diameter
Polyurethane (PU) Tubing in your Pneumatic Kit works like
the veins in your pneumatic system, moving pressurized air
from one part to another. Just like how veins carry blood in
our bodies, this tubing moves air around in your setup.
Tubing can be cut to any length using the Tubing Cutter.

Tubing Cutter:
• Tool used to cut the 4mm
hose
The Tubing Cutter, an important part of your pneumatic
toolkit, is used to cut your Tubing to just the right lengths.
Its triangular blade makes clean, straight cuts, which helps
prevent air from leaking out. To use it, you put your Tubing
in the cutter and squeeze it to make a neat cut. Don't forget
to be careful with the cutter because the blade is sharp.
This tool helps make your system work as well as possible.
Shut Off Valve Fitting:
• Fits into 4mm hose & used
to shut off the airflow.
The Shut Off Valve Fitting has a tap which can be used to turn the
air flow on and off. The Shut Off Valve Fitting is marked with an
arrow which denotes the direction of airflow. Be sure to connect
the Value to your system so that the air flows in the correct
direction. You can control the flow of air by turning the top dial:
when it's turned so it's making a "T" with the flow, the valve is
closed, and when it's turned so it's in line with the flow, it's open.
Closing the valve prevents air from flowing to the rest of the
system which can prevent air loss when not in use and allow you
to ensure the system is safe.
Double Acting Solenoid:
• Electronic Valve(s) that turn
the air on/off.
The Double Acting Solenoid is controlled by your V5 Brain. You can code your
robot to direct air to one of the two outlets on the Solenoid, which are typically
used to either extend or retract a Pneumatic Cylinder. You can connect either
the Straight Male Fitting or Elbow Fitting to the ports on the Solenoid which
then allow you to connect Tubing to carry air to the rest of the system. There
are two ports marked P, one on each side of the Solenoid. This is where the
pressurized air supply is connected. You can use the other P port to connect the
pressurized air to other parts of your system. The pressurized air can be
directed to either port A or port B and is controlled by your code. There are
two exhaust ports labeled R where the waste air exits when the Air Cylinder is
moving. These ports are a through hole, meaning both are joined together.
Wiring:
• Fits into Double Acting Solenoid & to the V5
“Brain”
The Double Acting Solenoid Driver Cable links the Double Acting
Solenoid to the V5 Brain of your robot. One end of the cable has
a 3-wire plug which connects to a 3-wire port on the Brain. At the
other end are two sockets which are connected to each of the
plugs on the Solenoid. The connector with the black and red
wires should connect the side of the Solenoid labeled A, and the
connector with the green and white wires should connect to the
side of the solenoid labeled B.
One Cylinder System:
A One Cylinder System,
using just one Pneumatic
Cylinder, is suited for
operations needing a
single motion. For
instance, a robot might
use this system for a
specific task, like moving a
claw or releasing a
mechanism.
Multi Cylinder System:
The concepts in a One
Cylinder System can be
expanded for multi-cylinder
systems. The setup illustrated
above is an advanced version,
featuring most components
from the V5 Pneumatics Kit.
Now, let's understand why
components are positioned
as they are and how this
impacts the system's
functionality.
Double Acting Solenoid Operation:
• First, connect your Double
Acting Solenoid Driver Cable to
the Solenoid, placing the Green
and White Wire near outlet B
and the Red and Black wire in
the remaining slot.
• Remember, the green and white
wire plug must connect to the
side labeled 'B' on the Solenoid;
not doing so will flip the logic,
causing the cylinder to extend
when you want it to retract.
The inlet marked P receives
pressurized air, while the outlets A
and B connect to the corresponding
cylinder. Air flow directed to outlet A
causes outlet B to expel air via
exhaust port R, enabling cylinder
movement. This exhaust process
releases waste air, facilitating
movement in the opposite direction.
While no attachment is necessary at
Refer to the following outlet R, it's important to be aware of
step for instructions on its role in air release. Directing air
directing air flow to towards an outlet, like A, closes its
adjacent exhaust port (as indicated
outlet B. by the nearby crossed-out R),
focusing air flow to the cylinder.
When air is directed
to outlet B, outlet A's
exhaust port R opens
to expel air, aiding in
cylinder movement.
Pressure to B & Pressure to A &
Released Out A. Released Out B.
VS.
Coding the V5
Pneumatics in
VEXcode Blocks
The VEXcode V5 Software
• Click on the VEXcode
V5 Software Icon
• This version of the
software is the same
on both MAC & PC.
• This version allows you to program using
Blocks &/or a Blocks/Text Hybrid.
Step 1.1 - Open VEXcode V5 Software
• Either click on the VEXcode V5 ICON on
your desktop or search for “VEX” in the
search bar at the bottom of your Windows
screen.
Step 1.2 - Open VEXcode V5 Software
• This is what the software looks like when
opened.
Updating Firmware(s)
Firmware:
1. The Brain has Firmware.
2. The Controller has Firmware.
3. The Bluetooth Dongle has Firmware.
4. & YES, the Battery has Firmware!
• These will have to be updated periodically
& it’s very simple.
• If they need updates here are the
directions:
PROGRAMS!
IMPORTANT NOTES:
1. You can program a VEX robot
with more than 1 controller.
2. Use Autonomous programs &/or
Remote.
3. Use sensors &/or not.
4. You can program all the different
Joysticks &/or Buttons in many ways.
5. For most robots they can be programmed in so
many different ways that the numbers are just literally
astronomically large!
THEREFORE: I’m going to show you 1 way of programming your robot &
just using one joystick. However, just remember that there is a huge
number of ways that a robot can be programmed!!!
Step 2 – Lets Name the Program & Save It
• Click here, select where to save it (Server
&/or Flash Drive), name it, & save it.
Step 3.1 Open Devices
• Click on the Devices Icon located here.
Step 3.2 - Add a Device
• We need to tell
the software
what devices
(motors, sensors,
&/or controllers)
that we are
plugging into our
robot, what ports
we are plugging
them into, & also
name them.
• Click Add a Device.
Step 3.3 - Select
Controller
• We are going to put
each Motor in
individually &
individually Name each
motor.
Step 3.4 – Click Done
• Just going to use 1
controller.
• We are going to
program the controls
manually in the
program code.
• Click Done – It will label
it “Controller1”
automatically.
For Starters, Build a One Cylinder System:
You are going to build a One Cylinder System like in
the picture & write a program to manually control it
with a controller.
Our tank says that it can handle 150psi.
Tank: Over that risks rupture. A literally
explosion! Put in air here on the Schrader
valve / Tire Valve.
Pressure Gauge:
When placed here, it allows you to read the pressure
the tank is under.
Shutoff Valve:
Lets you fill the tank & read the pressure on gauge
without pressurizing the rest of the system.
Lets you lower the pressure on the
system downstream of it. Turn the
Pressure
knob & read the gauge to set the Regulator:
pressure.
2 Way Solenoid Valve:
2 Electrical Solenoids that each move one of 2
valves, each valve goes to each side of pneumatic
cylinder.
4mm Plug:
This plug caps off this open fitting, here additional
pneumatics could be later attached…
90 Degree with Valve:
Putting this valve here allows you to slow the speed
of the pneumatic down?
Step 4.1 – Digital Output
• The Controller1 should be
there.
• Next step we are going to
put each Digital Output in
individually & we are
going to individually name
each Output.
• Click On - “Add a Device.”
Step 3.2 - Select 3-
Wire Device
• We are going to put a
3-Wire Device
Wire Digital Out
Device
3-Wire Digital Output
Device.
Step 3.4 - Select Which 3-Wire Port
• Select which 3-Wire Port this valve is going to

be on
• Name it, need to be able to tell them apart.
Step 3.5 – Should look like this…
• Once done it should look like the above.

Step 3.6 – Should
look like this…
• Once done Digital
Out Sensing – “set
DigitalOut25mm
low” should be
here as an option
to be dragged into
your block of code.
Step 3.7 – Should
look like this…
• If/once you have
multiple outputs/
Pneumatic Valves then
they will be in the
dropdown.
• LOW = Flow air to Valve
Outlet A
• HIGH = Flow air to Valve
Outlet B
Step 4.1 Drag in a Forever Loop
• Click on a forever loop & drag it in.
Step 4.2 Drag in
a if () then else if
() then else
statement
• Drag it into the
forever loop.
Step 4.3 Drag in Controller Statement
• Drag it into the if () then.

• Pick which button you would like, I did R1.
Step 4.4 Drag in Output Statement
• Drag in the Digital Out command we just

made.
Step 4.5 Drag in Controller Statement
• Drag it into the else if () then.

• Pick which button you would like, I did R2.
Step 4.6 Drag in Output Statement
• Drag in the Digital Out command we just made &

switch it to (high) opposite to above.
Step 4.7 Download, Debug, Test it Out.
• R1 & R2 Buttons should move cylinder in & out.

• May have to switch R1 & R2 or low & high…
5.1 Adding Additional Cylinders:
Remove 4mm plug & then add additional Solenoids,
valves, tubing, wiring, & Cylinders.
Step 5.2 Add Additional else if () then(s).
• Click on the Triangle with PLUS to add additional

else if () then Statements.
Step 5.3 Add Additional else if () then(s).
• Click on the
Triangle with PLUS
to add additional
else if () then
Statements.
• I clicked it TWICE &
added 2 of them.
• NOTE: Triangle with
negative will
remove them…
• AGAIN we are going to
click on the Devices Icon
located here.
Step 5.5 - Select Add a
Device
• The Controller1 should be
there.
• 1st Digital Out should be
present as well
• Next step we are going to
put each Digital Output in
individually & we are
going to individually name
each Output.
• Click On - “Add a Device.”
Wire Device
3-Wire Device
Wire Digital Out
Device
3-Wire Digital Output
Device.
Step 5.8 - Select Which 3-Wire Port
• Select which 3-Wire Port this valve is going to

be on, A is taken, so I choose B Port.
• Name it, need to be able to tell them apart.
• Once done it should look like the above.

Step 6 – Should look like this…
Once done it should look like
this. I did a bunch here,
duplicate of all previous:
1. Drag in 2 Controller
statements
2. Set them to L1 & L2
3. Drag in 2 Digital Out
Statements
4. Set them to low &
high
5. & DigitalOut50mm
6.1 Test it out
Both Cylinders should move with (R1 & R2) & (L1 &
L2) Buttons.
6.2 Can Add Additional Here?
Can have up to 8 pneumatics, pull the 4mm plug &
add additional on here…
7.1 VEX CADD FILES
1. VEX has CADD Files for Many of the parts in the kit
2. We have designed a bunch of parts/mounts too…
7.2 Our CADD Printed
• We have designed a bunch of parts: Tank Mounts,
Gauge Mount, Valve Mount, Solenoid Mount, & a
T-Fitting Mount
Step 8.1 – Autonomous Programming
This is an autonomous
Program:
1. Need some type, any type
of input to tell the robot
to begin the Autonomous
Program.
2. Toughing the screen
3. Moving robot – using the
gyro sensor.
4. Button being pressed.
5. Can even be just when
program is started.
6. I’m going to pick the V5
visible light sensor input…
• AGAIN we are going to
click on the Devices Icon
located here.
• Add a device.
Step 8.4 – Add Optical Sensor
• Click on add an Optical
device.
• This sensor pictured
below.
Step 8.5 – Name it & Select Port #
• Name it.
• Select Port #
• Click Done
Step 9.1 – Drag in a Forever Loop
• Click on
forever loop
• Drag it into
the
program
• Like so…
Step 9.2 – Drag in a if () Then Loop
• Click on if ()
then loop
• Drag it into
the
program
• Like so…
Step 9.3 – Drag in a Optical found an object?
• There are a number of
if () then options here.
I’m bringing in “found
an object?”
program
• Like so…
Step 10.1 – Digital a Output
• Click on
forever loop
• Drag it into
the
program
• Like so…
Step 10.2 – Reads
• IT READS THUS FAR: When Started do forever

[if Optical Sensor #1 finds an object then set
Digital Out 25mm to low]
Step 10.3 – Wait (time)
• Click on
wait ()
seconds
• Drag it into
the
program
• Like so…
Step 10.4 – Wait (time)
• There are a number of
if () then options here.
I’m bringing in “found
an object?”
program
• Like so…
Intro to Pneumatics
Assignment Finished

Vexcode Pneumatics Compressed

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Vexcode Pneumatics Compressed

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VEXcode V5

• Our Tanks Says it

25mm Stroke Pneumatic Cylinder:

50mm Stroke Pneumatic Cylinder:

75mm Stroke Pneumatic Cylinder:

The Air Pressure Gauge in your system is like a

The Straight Female Fitting is used when you need to

The Straight Male Fitting is used when you need to

Tubing can be cut to any length using the Tubing Cutter.

• Select which 3-Wire Port this valve is going to

• Once done it should look like the above.

• Drag it into the if () then.

• Drag in the Digital Out command we just

• Drag it into the else if () then.

• Drag in the Digital Out command we just made &

• R1 & R2 Buttons should move cylinder in & out.

• Click on the Triangle with PLUS to add additional

• Select which 3-Wire Port this valve is going to

• Once done it should look like the above.

• IT READS THUS FAR: When Started do forever

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