void TimeTest(ModaCPP::Connection *pConnection)
{
MU32 time=pConnection->GetTime();
_cprintf("Start time=%lu\r\n",time);
while(1)
    {
    time=pConnection->WaitTime(time+100); //waits 100ms
    _cprintf("current time=%lu\r\n",time);
    }
}

//you can replace pRobot->WaitTime(time+100) for pRobot->Wait(100)