Using Timers

[psquared]

I was wondering how i would go about setting up a timer in the program. I would like a way of using a very accurate timer that can be initiated miliseconds apart. I don't want to do a loop timer and guess how long has passed based on how long it takes a loop to pass. I need a really fast and accurate timer that can notify me when a certain number of miliseconds have passed to execute a command. If you have any code suggestions as to how I can get started or any links to resources they would be greatly appreciated. And to clarify I am referring to programming the robot controller using MPLab. Thanks.