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EDIT: Searching the forum for "millisecond timer" returned links to threads that already would have pointed you to the setitimer function. Try to search before asking your question.
Yes there is a complete timer mechanisim in Linux, and these timers even give more accuracy then in milliseconds. In the begining i found these timers a little difficult so i used the threads to simulate timers, So it is also an option to implement the timers using threads, and nanosleep() function.
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