100ms duration. I also noticed a slight diminishing of tag rate when querying all antennas. From approx 7tags per sec (all) to 9tags per sec (one).
Cleaned up syntax of moo_concrete_reader.c and stripped extrenous code bits. Added an antenna configuration to the ROSpec which finally allows us to communicate with the Moo outside. Next up getopt to provide some advanced configuration and a bit of tweaking to get this going faster.