How do I generate circles appearing one at a time, rather than a whole cluster of circles in p5.js

if (millis%1000 == 0)
The chances of this happening are extremely low at the instant that you are checking millis() during a frame (draw() cycle).

if (frameCount%60 == 0)
This will work for frameCount since this increments each frame (draw() cycle).

This is a Processing example that uses millis():

:)

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