The problem is that the system automatically highlights then unhighlights the button on touchDown and touchUp respectively. So, you need to highlight the button again, after it's unhighlighted by the system. You can do by using performSelector:withObject:afterDelay: even with a 0 delay (because the selector is scheduled on the run loop which happens after the system has done it's unhighlighting). To use that method, you have to pass an object (not an integer), so If you modify your code slightly to use NSNumbers, it would look like this,
- (void) highlightButtonWithTag:(NSNumber *) tag {
UIButton *btn = (UIButton *)[self.view viewWithTag:tag.integerValue];
btn.highlighted = YES;
}
- (void) viewDidAppear:(BOOL)animated {
self.selectedIcon = 1;
[self highlightButtonWithTag: @(self.selectedIcon)];
}
- (IBAction) selectIcon:(UIButton *)sender {
// "Un"highlight previous button
UIButton *prevButton = (UIButton *)[self.view viewWithTag: self.selectedIcon];
prevButton.highlighted = NO;
// Highlight tapped button:
self.selectedIcon = sender.tag;
[self performSelector:@selector(highlightButtonWithTag:) withObject:@(self.selectedIcon) afterDelay:0];
}