thanks for the prompt reply.
right now im fighting with the step/dir int routine, which is not showing any sign of life. so im assuming that step/dir is not working.

whole routine is in the interrupt, (just as you had it)except the lcdout, which is the only command in the main routine.

yes, that is 18khz according to the scope. is that not good?

the only motor connection is the encoder and im using leds to show hpwm output. saves a lot on h-bridges and smoke from explosions.
will eventually move to the power control module once everything is figured out.