Ok, I've been doing more searches through the messages. This time focusing on timers (rather than encoders) and interrupts. Lots of good stuff and the IFI white paper has been useful (
http://www.ifirobotics.com/docs/time...004-jan-14.pdf ).
Answered one question I had. I see that ^= is an
exclusive OR assignment rather than OR so it will toggle the value. I'll be spending some time writing some code to exercise the timer interrupt. Hopefully that will shed some light on why it is being used in conjunciton with the encoder interrupt.
-Glenn