Non-blocking Virtual Delay timer. Timer-rollover safe. For the Arduino Uno and Zero.
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README.md

Advantages of the VirtualDelay library:

  • The delay is virtual, during the delay, the code execution is continued
  • We can use multiple delays sequentially in a loop.
  • We can use multiple delays simultaneously and independent of each other.
  • The delay time can set in micro-seconds or milli-seconds.
  • No hardware timers are used
  • The library is timer-rollover safe

See the article http://www.avdweb.nl/arduino/libraries/virtualdelay.html