Index: firmware/App/Modes/ModeHeatDisinfect.c
===================================================================
diff -u -re0265b8fad80add7a5d54db11ecc72fd6b1665a8 -r9d5edd5658227136b3242bec69e9417107deab10
--- firmware/App/Modes/ModeHeatDisinfect.c	(.../ModeHeatDisinfect.c)	(revision e0265b8fad80add7a5d54db11ecc72fd6b1665a8)
+++ firmware/App/Modes/ModeHeatDisinfect.c	(.../ModeHeatDisinfect.c)	(revision 9d5edd5658227136b3242bec69e9417107deab10)
@@ -143,6 +143,9 @@
 static DG_HEAT_DISINFECT_STATE_T handleHeatDisinfectRinseR1ToR2( void );
 static DG_HEAT_DISINFECT_STATE_T handleHeatDisinfectRinseR2ToR1AndDrainR1State( void );
 static DG_HEAT_DISINFECT_STATE_T handleHeatDisinfectRinseCirculationState( void );
+static DG_HEAT_DISINFECT_STATE_T handleHeatDisinfectCancelModeBasicPath( void );
+static DG_HEAT_DISINFECT_STATE_T handleHeatDisinfectCancelModeColdWaterPath( void );
+static DG_HEAT_DISINFECT_STATE_T handleHeatDisinfectCancelModeHotWaterPath( void );
 
 static void resetActuators( void );
 static void setModeToFailed( DG_HEAT_DISINFECT_STATE_T state );
@@ -276,6 +279,15 @@
             heatDisinfectState = handleHeatDisinfectRinseCirculationState();
             break;
 
+        case DG_HEAT_DISINFECT_STATE_CANCEL_MODE_BASIC_PATH:
+            break;
+
+        case DG_HEAT_DISINFECT_STATE_CANCEL_MODE_COLD_WATER_PATH:
+            break;
+
+        case DG_HEAT_DISINFECT_STATE_CANCEL_MODE_HOT_WATER_PATH:
+            break;
+
         case DG_HEAT_DISINFECT_STATE_COMPLETE:
             // Done with heat disinfect cycle, complete or not
             break;
@@ -1082,24 +1094,16 @@
 /*********************************************************************//**
  * @brief
  * The setModeToFailed function sets the heat disinfect mode to failed
- * by changing the state to complete and calling another function to set
- * the actuators to reset state.
- * @details Inputs: stateTrialCounter, stateTimer, areTempSensorsInRange,
- * heatDisinfectState TODO add more variables if needed
- * @details Outputs: none
+ * by changing the state to complete.
+ * @details Inputs: heatDisinfectState
+ * @details Outputs: heatDisinfectState
+ * @param failedStated which is the state heat disinfect mode failed
  * @return none
  *************************************************************************/
 static void setModeToFailed( DG_HEAT_DISINFECT_STATE_T failedState )
 {
-    // Reset all the variables
-    stateTrialCounter     = 0;
-    stateTimer            = 0;
-    areTempSensorsInRange = FALSE;
-    heatDisinfectState    = DG_HEAT_DISINFECT_STATE_COMPLETE;
+    heatDisinfectState = DG_HEAT_DISINFECT_STATE_COMPLETE;
 
-    // Reset the actuators before alarming
-    resetActuators();
-
     SET_ALARM_WITH_1_U32_DATA( ALARM_ID_DG_HEAT_DISINFECT_CYCLE_FAILED, failedState )
 }
 
@@ -1127,7 +1131,7 @@
     }
     else if ( r == R2 )
     {
-        volume = getLoadCellFilteredWeight( LOAD_CELL_A2 );
+        volume = getLoadCellFilteredWeight( LOAD_CELL_B1 );
     }
 
     // Check the volume of the reservoir against the target volume
@@ -1168,7 +1172,7 @@
     }
     else if ( r == R2 )
     {
-        volume = getLoadCellFilteredWeight( LOAD_CELL_A2 );
+        volume = getLoadCellFilteredWeight( LOAD_CELL_B1 );
     }
 
     if ( volume < RSRVRS_EMPTY_VOL_ML )
@@ -1274,7 +1278,7 @@
         MODE_HEAT_DISINFECT_DATA_T data;
 
         data.heatDisinfectState       = (U32)heatDisinfectState;
-        // Get the time elapsed so far and convert them to minutes
+        // Get the time elapsed so far and convert them to minutes TODO remove the timings?
         data.overallElapsedTime       = calcTimeSince( overallHeatDisinfectTimer ) / ( 60 * MS_PER_SECOND );
         data.heatDisinfectElapsedTime = calcTimeSince( stateTimer ) / ( 60 * MS_PER_SECOND );