Note: Inside the loop(), use the Timing library as a replacement for delay() which is a blocking function.

The Timing library is a non-blocking library which lets you run several tasks in parallel and control their durations. It is ideal for multitasking applications.

A HITI Timer lets you control the duration of a task and trigger events accordingly. 

To use HITI Timers (included in the Base library) :

#include <HITIComm.h>

A HITI MultiTimer allows you to control several consecutive delayed tasks.

To use HITI MultiTimers :

#include <HC_MultiTimer.h>