Quick Steps. While delayMicroseconds() directly uses the value of the hardware timer, delay() and millis() are handled by the ISR. Serial communication that. delayMicroseconds. There is an OC (output enable) pin which, when grounded, gives output of selected byte from 8 I/O pins. 이 함수는 3 마이크로 초 이상 범위에서 매우 정확하게 돌아간다. You can connect it to the 5V output from your Arduino. All without using the delayMicroseconds() function. Anmerkungen und Warnungen. Using Arduino Motors, Mechanics, Power and CNC. begin(); } void loop() { uint3. pos;i++)However you can use exactly the same technique to keep track of time to the microsecond interval. We’ll use the timer compare match interrupts (COMPA & COMPB) at the same time. So you would need 8 dummy instructions to delay half a microsecond. And I change the prescaler to 1. To use this library, open the Library Manager in the Arduino IDE and install it from there. Duemilanove and Nano), this function has a resolution of four microseconds (i. The SRF05 module is an improved version of SRF04. Description. I did a bit more digging, and apparently the ESP8266 does support microsecond timers through ets_timer_arm_new () where the last parameter is zero. I would like to toggle an output pin in the order of microseconds so use the function delayMicroseconds. On 16 MHz Arduino boards (e. First of all, you need to know what the millis() function does. This could change in future Arduino releases. For delays longer than a few thousand microseconds, you should use delay() instead. 1 or // 2 microseconds) gives delays longer than desired. Since the Arduino Uno R3 development board maintains a 16MHz external clock signal on the onboard ATMega328p, the microcontroller executes a 1 clock-cycle instruction in exactly 62. Description. CrossRoads:In this tutorial, you will learn how to control a stepper motor with the TB6600 microstepping driver and Arduino. This function works very accurately in the range 3 microseconds and up. Certain things do go on while the delay () function is controlling the Atmega chip however, because the delay function does not disable interrupts. Certain things do go on while the delay () function is controlling the Atmega chip, however, because the delay function does not disable interrupts. 3 did NOT have any type of guaranteed resolution whatsoever. yes, it did occur to me to place the variable inside the "time value" of the "delay ()" parameter, the compiler doesn't like it, it throws and error, it highlights that line and says "value is not ignored as is ought to be" apparently the parameter "delay ()" is something you can't change like a variable, it can. 4*10^-5 = 15625. print(distance); Serial. Description. The input argument to this function defines the number of microseconds delay. the value returned is always a multiple of four). Click the tab to view its contents, including detailed descriptions of the available. From the arduino reference page for delay the parameter for delay is an unsigned long. Arduino example sketch "Blink" allows you to specify "delay ()" between state changes in microseconds. Again, after a delay of value c2 the loop continues. Syntax. Description. sleep (seconds): This blocking method provides a delay in seconds. Need some help. This function works very accurately in the range 3 microseconds and up to 16383. Timers interval is very long. This controller is called an ESC (Electronic Speed Controller). On the boards from the Arduino Portenta family this function has a resolution of one microsecond on all cores. Wir können nicht garantieren, dass delayMicroseconds () genau für kürzere Verzögerungszeiten funktionieren. I have used the following code to calculate distance and it works perfectly. The following code outputs 5012 or 5013: Serial. The first arduino holds the line high for 100ms using the delay () method, the other arduino is sending the data during this time, but the I2C receive interrupt is not being triggered. This would mean the delay is limited to a max of 32,767. In addition, this particular module comes with ultrasonic transmitter and receiver modules. Writes an analog value ( PWM wave) to a pin. Everything seemed to be working well in my simulations, but whenever I built the circuit and looked at the timing on an oscilloscope all of my uS values seemed to be off. FreeRTOS delay in microseconds. 024 KHz. Blink without Delay - Arduino Tutorial. While delayMicroseconds () directly uses the value of the hardware timer, delay () and millis () are handled by the ISR. Micro-controller: generates a 10-microsecond pulse on the TRIG pin. Majenko is perfectly right: you cannot expect much accuracy from an Arduino clocked by a ceramic resonator. Description. Standard servos allow the shaft to be positioned at various angles, usually between 0 and 180 degrees. Which worked out to 213-160 = 53 counts (53 x 6. system June 29, 2008, 3:58am 1. I am using the HC-SR04 ultra sound sensor for Arduino. g. Duemilanove and Nano), this function has a resolution of four microseconds (i. I discovered this experimenting with a sound synthesis program with a variable for the. The problem is that I want to use arduino to program this chip. Principle of operation. The receiver and transmitter of the SRF04 and SRF05 modules are adjacent to each other and can detect objects in the range of 2 to 300 cm accurately. More knowledgeable programmers usually avoid the use of delay () for timing of events longer than 10’s of milliseconds unless the Arduino sketch is very simple. It now supports 16 ISR-based timers, while consuming only 1 Hardware Timer. Inside this timer ISR you would reset/disable the timer, then process your delayed action and return. Hi guys. 30 microsecond (Low) 1. Timer1 (16 bits) is used for functions like delay() and millis() and for PWM output on pins 5 and 6. Its. This could change in future Arduino releases. First of all we need to trigger the ultrasonic sensor module to transmit signal by using arduino and then wait for receive ECHO. delay 가 몇 천 마이크로 초 보다 길면, 대신 delay. Posted by glenenglish on May 26, 2017. hatenablog. 03 「Arduinoでパルスを読み取る方法」をまとめで紹介しました。 2019. cycles = (16,000,000 / 2,000,000) * 60,000,000 = 480,000,000. Serial communication that appears. Hi, I'm using Arduino IDE 1. The Arduino framework already includes a function for timekeeping: millis (). The argument decides how much amount of time we want to pause the code. Continuous rotation servos allow the rotation of the shaft to be set to various speeds. Internally, esp_timer uses a 64-bit hardware timer, where the implementation depends on the target. Nó chấp nhận một đối số số nguyên (hoặc số). There are a thousand microseconds in a millisecond, and a million microseconds in a second. You can modify the bootloader and boards. 0. Duemilanove and Nano), this function has a resolution of four microseconds (i. But there is a way. the value returned is always a multiple of four). The Arduino Reference text is licensed under a Creative Commons Attribution-Share Alike 3. How does micros() differ from millis() (except of course for their precision)?Things to Avoid in Programs with Interrupts (The Don’ts) Do not use delay (), millis (), or micros () inside of an ISR. O problema de utilizar estas funções é que elas "pausam" a programação até terminar o tempo que foi determinado. h). 2 microseconds. If you spend more than about two milliseconds total in your interrupt. Jeg_1 March 22, 2017, 6:27pm 3. Description. Greetings, I am having an I2C speed issue. asm volatile ( "nop":: ) Now, you want to delay longer than that but potentially shorter than 1us. Using Arduino Programming Questions. delay(1000); Finally, a delay of 1000. For some reason best known to itself this code works properly on an Attiny at 1MHz and gives a delay of 8 seconds. Purchase the Products shown in this video from :: is one of the most critical differences between the ESP8266 and a more classical Arduino microcontroller. When you do delay(1000) your Arduino stops on that line for 1 second. If the parameter is calculated inside of a user code, this zero can be unexpected outcome leading to the confusing huge delay. Initially I used delayMicroseconds(), which seemed to work fine until I realized that I may want an interval longer than 16mSec. I’m using Arduino 1. Briefly, our Arduino has three different timers numbered 0, 1 and 2. For example, consider we have to print some numbers on the serial monitor at a specific time interval. delay (1000) - means delay of 1 sec. Maybe some timer should be set for that. 1us (1/8000000). If we would change from HIGH to LOW and back to HIGH as fast as we can, then. Listen to piezo buzzer's sound. CrossRoads September 11, 2012, 4:28am 4. 20th Dec 2021 update: added PinFlasher class and example (included in SafeString library V4. There are a thousand microseconds in a millisecond and a million microseconds in a second. Pauses the program for the amount of time (in microseconds) specified as parameter. The motor interface type must be set to 1 when using a step and direction driver. 5nS, +/- interrupts/overhead/etc) or set up a timer to count exact clock cycles, and then convert to your preferred units at the user interface level. Thanks! To actually answer your question: Since delayMicroseconds () takes an unsigned int as an argument, your float will be converted to an unsigned int and the function will execute once that conversion is made. I also used portTICK_RATE_MS but the speed didnt change . My OneWire device is now working perfectly on a 1MHz arduino. There are 1,000 microseconds in a millisecond and 1,000,000 microseconds in a second. My question is wether or not it is possible to use delayMicroseconds() on the ESP32 while sustaining an uninterupted wifi connection? I ask this because I. begin()は、Bluetoothシリアルに名前を指定します。指定した名前でペアリングします。 SerialBT. I was using the ATmega328 cause im a bit of a noob in some ways, plus i kinda like the plain english structure of the Arduino IDE programming environment, and i can pass on my code and kits. . i. Forum 2005-2010 (read only) General Frequently-Asked Questions. g. More knowledgeable programmers usually avoid the use of delay () for timing of events longer than 10’s of milliseconds unless the Arduino sketch is very simple. The Arduino core uses hardware Timer0 with its ISR (Interrupt Service Routine) for timekeeping. A value of 500 ms in the delay function should be equivalent to 500000 µs in delayMicroseconds function, right? Anyone an idea what might be wrong?There is a lot of code in Arduino which looks like this: uint32_t start. It uses the STM32's DWT_CYCCNT register, which is specifically designed to count actual clock ticks, located at address 0xE0001004. I tried adding a variable ARD_DELAY (not shown above) to the code that in that last delay would subtract 7 to 8 milliseconds to try and fix this, but apparently, it only made it worse (now it removes 1 second every 1 hours instead of 2 hours) so today I'll try to add those 7 to 8 millis and see if it works, but I would really like to know why. Being new here you might think this is having rules for the sake of rules, but that is not the case. なし. A partir da versão Arduino 0018, delayMicroseconds () não. The values will be in milliseconds. 5Us pulse. Connect Arduino to PC via USB cable. attachInterrupt (). Currently, the largest value that will produce an accurate delay is 16383. I chose the ESP32 because of its 240MHz clock, but it still seems to be having trouble. I need to measure with accuracy the simultaneity of two physical events. Which produces ~11. Arduino's delay/tick functions do it. I have some code running as a FreeRTOS task on my ESP32. Có một nghìn micro giây trong một phần nghìn giây và một triệu micro giây trong một giây. This discussion on sub-microsecond ESP timing seems well worth reading FYI If ESP Timers prove problematic, then I like your assembler-delay idea. Secondly, do you realise how short a microsecond is and what the largest number is that produces an accurate delay ? From delayMicroseconds() - Arduino Reference. 192 KHz. I am working a project which used timer 2 to trigger the Timer Compare Interrupt. Please help. afremont March 29, 2013, 9:35am #1. It only takes a minute to sign up. Using Arduino Microcontrollers. 1inches), which is good for most hobbyist projects. I am using an UNO for my project. 現状, 正確に生成できる遅延の最大値は16383である。これより大きい値では、極端に短い遅延を生成するかもしれない。これは、将来のArduinoリリースで変更される可能性がある。数千マイクロ秒よりも長い遅延が必要なときは、delay()を利用すること. 32 KHz. And that was why I investigate this whole. println()は、シリアル通信で改行付きの文字列を送信します。 delay()は、ミリ秒指定で一定時間待機します。Arduino is using all three timers in ATMega328. The following code controls a syringe pump, powered by a NEMA 17 Stepper motor that is driven with an a4988 stepper driver. This library allows an Arduino board to control RC (hobby) servo motors. Gravity: Photoelectric Water / Liquid Level Sensor For Arduino. You can request the current time using millis (), for example, but the value returned by. How delay() Function Works. The test I describe below has been done on several boards: Arduino Uno and Arduino nano AT328p. hatenablog. Serial communication that appears. Pauses the program for the amount of time (in microseconds) specified as parameter. Step 3: Open the Example File in Your Arduino IDE. Is there a better method, like to create separate module for counting in microseconds using micros timer?Then I assumed it's too fast so I added delay(1) in the loop and no crash occured anymore (code#2). There are a thousand microseconds in a millisecond and a million microseconds in a second. Values under 1950 are. 指定した関数の中では、delay()は動作せず、また、millis()によって返却される値も増加しない。 その関数の実行中に受信したシリアルデータはなくなる可能性がある。指定した関数の中で変更する変数は、volatile変数として宣言するべ きである。 下記のISRを参照のこと。Usage. You can use delayMicroseconds to delay short periods. Arrch July 31, 2012, 9:44pm 2. I edited the example code and removed all I. On 16 MHz Arduino boards (e. In this way the LED blinks continuously while the sketch. running a very short program on a mega, just to generate a 8 microsecond wide clock pulse on pin 18, every 250 microseconds- closest 'delay' values I can get are delayMicroseconds(3), and (83) off, gives a 7. You are working way too hard for something so simple. com目次は次のとおりです。 赤外線の送信機をつくる 赤外線通信プログラム（Arduino版） 赤外線通信プログラム（AVR版） 赤外線の受信. Make an Arduino delay for 1 minute. Duemilanove and Nano), this function has a resolution of four microseconds (i. c" file, the function parameter is pre-decremented, effectively switching this zero to a large value. Step 2: Circuit DIagram. //delay_us(us); // for the 16 MHz clock on most Arduino boards // for a one-microsecond delay, simply return. The overhead // of the function call yields a delay of exactly a one microsecond. Microsecond delay with Python for controlling Arduino. A well known Arduino function is delay() which pauses the program for an amount of milliseconds specified as parameter. (it is limited by a 16 bit microsecond counter divided by 2). 1000 microseconds is full left and 2000 microseconds is full right. system Closed May 5, 2021, 11:46pm 10. Dividing by 2 accounts for the two-way trip. Are you using the Arduino platform for ESP32 development? If so, I think `delayMicroseconds()` is available. This library makes this easy by allowing you to create variables (objects) that automatically increase as time elapses. So, that's your resolution. 매개변수에 지정된 시간 (마이크로 초)동안 프로그램을 멈춘다. Timer 0 is initialized to Fast PWM, while Timer 1 and Timer 2 is initialized to Phase Correct PWM. To use the millis () for timing and delay, you need to record and store the time at which the action took place to start the time and then check at intervals whether the defined time has passed. The same technique can be used with micros(). So, cycles is NOT less than RESOLUTION - 1, therefore it was more than maximum. When flashing the same code on an ATtiny85 with 1 MHz the us-delay is factor 8 too long. Actual i need Turn On time 3Us and turnoff time variable one. 2 microsecond (High) About a 10 second Delay. However, to answer your actual question, there is a more accurate alternative to delayMicroseconds (): the function _delay_us () from the AVR-libc is cycle-accurate and, for example. For 1 microsecond delay, I got a count of 213. 11. The delay () function uses the milliseconds interrupt. delay function does not return any. There are a thousand microseconds in a millisecond, and a million microseconds in a second. The code is generated with this tool and modified for our test project requirements. Pauses the program for the amount of time (in microseconds) specified as parameter. delayMicroseconds() works in arduino. The Due can execute instructions in a single clock so the smallest delay you can add is 1/84M = 11. We can use the delayMicroseconds () function in Arduino to add delay in microseconds. Using large delays in loops isn’t recommended. Delay digunakan jika dalam pemberian perintah Input dan Output ingin diberikan waktu jeda untuk perintah khusus tertentu. Assumes a 1, 8, 12, 16, 20 or 24 MHz clock. e. 현재, 정확한 delay를 만드는 가장 큰 값은 16383. The first delay of 2us is to make sure we are at an established LOW level on the trigger pin, since the pin might have been HIGH before that. Syntax – delay (ms) delay function takes only one argument, Which will be the amount of time we have to pause the code. You can delay that small by doing something like. I just started using Arduino and so far I've used both delay () and delayMicroseconds (). LAC. Board. with code shared above i cant able to generate any pulse . I suspect that the delay () method somehow is disabling the I2C ISR from. This Delay_MicroSecond() function generates a delay in multiples of one microseconds. Go to Tools -> Manage Libraries and search for TimerOne and TimerThree (optional) and click Install. The respective interrupt gets fired even if you don't use delays. 遅延を追加せずに数値を直接印刷すると、マイクロコントローラーが. In case anyone is interested. 2. With single digit millisecond or the microsecond. For delays longer than a few thousand. How It Works. This IR functionality needs a delay microseconds function in order to get built. 4 times faster but not 64? The HC-SR04 ultrasonic sensor uses sonar to determine the distance to an object. There are a thousand microseconds in a millisecond, and a million microseconds in a second. We can use the delayMicroseconds () function in Arduino to add delay in microseconds. This could change in. The Arduino programming language Reference, organized into Functions, Variable and Constant, and Structure keywords. After each time you tell the arduino to start making a tone (this is the tone() command) add some delay. will make the program sleep for 3 minutes. Currently, the largest value that will produce an accurate delay is 16383. This number will overflow (go back to zero), after approximately 70 minutes. Certain. Returns the length of the pulse in microseconds or gives up and returns 0 if no complete pulse was received within the timeout. If you want to make your Arduino sleep for 1 minute, or for multiple minutes, then it’s quite easy. 29 platformioの設定ファイルを「platformio. Hi, I need help to integrate these two. On standard servos a parameter value of 1000 is fully counter-clockwise, 2000 is fully clockwise, and 1500 is in the middle. Now, there are two functions of importance here: Timer1. Và cứ mỗi 1000000 micro giây = 1 giây. See BlinkWithoutDelay (code below). There are a thousand microseconds in a millisecond and a million microseconds in a second. The time setting can be done manually through a network protocol or a battery backup. Currently, the largest value that will produce an accurate delay is 16383. A digital servo needs a pulse of 1. Não é possível assegurar que delayMicroseconds() irá funcionar corretamente para valores menores. I'm currently stuck on a problem, which involves a program using a task scheduler and a task using a delay. To get. However, to answer your actual question, there is a more accurate alternative to delayMicroseconds (): the function _delay_us () from the AVR-libc is cycle-accurate and, for example. Description Pauses the program for the amount of time (in microseconds) specified by the parameter. STM32 Delay Microsecond & Millisecond Utility All the delay functions with both methods WDT and Timer are found in the util folder that you’ll download from the link below. In this video, we will know how to using new 3 functions with FreeRTOSFreeRTOS: Free Real Time Operating System FreeRTOS library on Github: - Ultrasonic Sensor. Essa função funciona bastante precisamente para valores maiores que 3 microssegundos. F_pwm=16mhzP_clock=16mhz. More knowledgeable programmers usually avoid the use of delay () for timing of events longer than 10’s of milliseconds unless the Arduino sketch is very simple. int piezoPin = 8; void setup () {} //close setup void loop () { /*Tone needs 2 arguments, but can take three 1) Pin# 2) Frequency - this is in hertz. using 4 or 8 data lines in addition to the rs, enable, and, optionally, the rw control lines). Description. 이 함수는 3 마이크로 초 이상 범위에서 매우 정확하게 돌아간다. e. (9, i); 60 delay (10); 61} 62 63 delay. Where as I have another task, just polling for information from the UART, so set the value of _speedVar. micros() works initially, but will start behaving erratically after 1-2 ms. This driver is easy to use and can control large stepper motors like a 3 A NEMA 23. Pauses the program for the amount of time (in microseconds) specified as parameter. (as someone who has started learning microcontrollers from stm32 not Arduino or PIC) now the question is how do we create several pulse trains with 1us resolution in. 125) will take exactly two CPU cycles on an UnoBut when I use _delay_ms(1000) it delays for 1 sec. The operation is not affected by sunlight or black material. We’ll be using the DWT and STM32. The CNC Shield V3 is an extension board for Arduino UNO or Mega allowing to interface easily to stepper motor controllers, type A4988. SAMD21 RTC millisecond timing. As of Arduino 0018, delayMicroseconds () no longer disables interrupts. 29 platformioの設定ファイルを「platformio. There are a thousand microseconds in a millisecond, and a million microseconds in a second. Trig (Trigger) pin is used to trigger ultrasonic sound pulses. But how can I generate 100-1000 nanosecond pulse using arduino? The lowest delay time in arduino is 1 microsecond (1000 ns) plus time taken by digitalWrite and digitalRead functions (working with ports directly still takes more that 120 ns more). As you pointed out delay works fine in Arduino IDE, if you consider Arduino as component to be unsupported then please close this issue!Measuring the Speed of Sound With Arduino Microcontroller and Ultrasonic Sensor: My 6 year old daughter, Samatha, demonstrates how to measure the speed of sound in air with Arduino Uno microcontroller and ultrasonic sensor. delay (200) = 2 Hz at the flow computer. This example delays by 500ms: esp-idf-equivalent-to-arduino-delay. For delays longer than a few thousand microseconds, you should use delay() instead. This version. Have a look on alarm manufacturers websites and see if they say the alarm frequency, then replicate it using PWMHowever, if I replace the last line (OCR1A = pulse_delay + pulse_length;) of the compare match interrupt with the following two lines, it outputs a pulse just fine. I have replaced the atmega328 with an Attiny85 which i am still programming with the plain language of the arduino IDE. It should be noted that: the arguments to these macros should be compile-time constants, they can be floating point; the macros are cycle-accurate, e. delay() delayMicroseconds() micros(). For configuring the module we simply use AT commands, which can be sent from an Arduino, a PC, or any other microcontroller using the serial port. Then I thought to make the delay smaller so I changed delay(1) to delayMicroseconds(100) and it did crash again. delay (5) = 100 Hz at flow computer. elapsedMillis. For my program: Loop. Arduino の delayMicroseconds () 関数を使用して、マイクロ秒単位で遅延を追加できます。. The Arduino uses Timer 0 internally for the millis() and delay() functions, so be warned that changing the frequency of this timer will cause those functions to be erroneous. It is only a delay not a jitter or a lack of precision. More knowledgeable programmers usually avoid the use of delay () for timing of events longer than 10’s of milliseconds unless the Arduino sketch is very simple. I have been working on an LED controller that uses a Return-to-zero protocol that requires me to send high and low signals at delays of 0. cmaglie removed the New label on Feb 27, 2014. In this tutorial, I’ll show you a couple of methods to implement STM32 delay functions both in microseconds and milliseconds. Hi, I need the Arduino to provide a signal 100 - 10000 ns "high" in a 57,5 Hz cycle. However I would like to get a step up and simulate higher frequencies, up to 10000 Hz. As a part of my project I need to generate 10 microseconds pulses with 10 milliseconds intervals. For accurate delays you need to turn off interrupts and can use avrlibc delays _delay_loop_1 executes three CPU cycles per iteration, not including the overhead the compiler needs to setup the. Cooperative multitasking for Arduino, ESPx, STM32 and other microcontrollers. The sensor has 4 pins. Currently, the largest value that will produce an accurate delay is 16383. How the HC-SR04 Ultrasonic Distance Sensor Works? It emits an ultrasound at 40 000 Hz which travels. What is my logic: Since the clock frequency is 8 MHz and the prescaler is off, the time of one clock cycle will be about 0. The off-the-shelf micros() function has a resolution of 1/256th of about a millisecond, so pick 4, 8 or 12. 10 kHz is a bit fast in my opinion for the. i. Mô tả chức năng. A partir da versão Arduino 0018, delayMicroseconds () não mais desativa interrupções. Some ports allow specifying the delay time as a floating-point number. Using Arduino Programming Questions jaainaveen February 21, 2019, 5:29am 1 I have been working on an LED controller that uses a Return-to-zero protocol. 1. When you call delay, it keeps the timer running sending pulses during the wait. . In this last example project, we’ll test multiple Arduino Timer Interrupts. delayMicroseconds(us) Parameters. Arduino programming language can be divided in three main parts: functions, values (variables and constants), and structure. Currently, the largest value that will produce an accurate delay is 16383; larger values can produce an extremely short delay. I was wondering what the difference between these two is, because it seems to me that they're the same. delayMicroseconds () is a cycle-counting loop, so it doesn't include any time taken by background functions like interrupts. the overhead // of the function call yields a. 현재, 정확한 delay를 만드는 가장 큰 값은 16383. This could change in future Arduino releases. 0, if you wanted 50 milliseconds, it would be 0. Therefore, we can get the distance from the ultrasonic sensor by using two Arduino's pins: One pin is connected to TRIG PIN to generate 10µs pulse to TRIG pin of the sensor. #else // for the 8 MHz internal clock on the ATmega168 // for a one- or two-microsecond delay,. delayMicroseconds limitation. Pauses the program for the amount of time (in microseconds) specified as parameter. To verify the delay accuracy (see main), you can call STOPWATCH_START, run stopwatch_delay(ticks), then call. I've tried using delay() and. In my code, I have 4 push buttons, 3 control motion of the stepper motor at different stages in the syringe extrusion, and 1 that is supposed to function as an emergency stop. Esta función es útil para una variedad de usos, como retardos precisos en la programación de microcontroladores, medición del tiempo de respuesta, etc. It is a function that sits in a loop for the number of milliseconds that you give it as an argument. 83 microsecond window to execute. delayMicroseconds có nhiệm vụ dừng chương trình trong thời gian micro giây. Returns the number of microseconds since the Arduino board began running the current program. There are a thousand microseconds in a millisecond, and a million microseconds in a second. On 16 MHz Arduino boards (e.