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Arduino Measuring Time in Milliseconds

Greetings fellow robot builders,

I have used my Arduino so far with much succes but I cannot, for the life of me, find out how to measure the time from one point of the program to another in milliseconds. I have downloaded the Arduino "Time" library and it seems that that can only measure in whole seconds and as many of you know, a second is a very very long time in a program. By the way, I do not want the robot to pause in this time. (I know about the "delay" function)

Any help would be appreciated.

Thanks, Riddellikins