Maintained at https://github.com/mithat/ArduinoAsyncTimer.
The AsyncTimer library lets you create pseudo-asynchronous timers with optional start and mandatory time-out actions. In other words, you can create a timer that does something when you start it (or nothing if you prefer), then waits a predetermined time before doing something else. While it's waiting, it doesn't lock up your Arduino the way the delay() function does--it just schedules the time-out action to take place some time in the future.
The time-out and start actions are specified as function pointers with no parameters and no return value. This is way less scary than it seems as you can see from the examples.
More info coming soon.