"Wait" pauses all robot code?

[FRCMikeH]

Hi,

We are encountering an issue where using wait pauses execution of the entire robot.

Our robot uses a piston to move the kick mecahnism. We would like to be able to retract our kick mechanism while we are driving. Our lab view code for retracting the kick mechanism is in a seperate VI and uses a 'wait' to wait for the piston to become fully retracted. From the lab view documentation, we thought the wait would allow other parallel sub VIs to execute (like driving VI)

However, when we encounter the wait the entire program waits, so we can't drive or do anything else while the kick mechanism is retracting. The drive and other VIs do not have any inputs from the retract piston VI, so there shouldn't be any dependancies.

Is there a way to wait without pausing execution of the entire robot?

Any help is much appreciated, thanks!

Mike