Index: firmware/App/Drivers/RotaryValve.h
===================================================================
diff -u -re69d7ce1c9d88695e25e8ea94529dffdd8592434 -re24a98a344ba13ceb0663b415268a7e1dd5ce99e
--- firmware/App/Drivers/RotaryValve.h	(.../RotaryValve.h)	(revision e69d7ce1c9d88695e25e8ea94529dffdd8592434)
+++ firmware/App/Drivers/RotaryValve.h	(.../RotaryValve.h)	(revision e24a98a344ba13ceb0663b415268a7e1dd5ce99e)
@@ -1,17 +1,17 @@
 /**************************************************************************
 *
-* Copyright (c) 2024-2024 Diality Inc. - All Rights Reserved.
+* Copyright (c) 2024-2025 Diality Inc. - All Rights Reserved.
 *
 * THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN
 * WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER.
 *
 * @file    RotaryValve.h
 *
-* @author  (last)      Sean
-* @date    (last)      03-Oct-2024
+* @author  (last)      Dara Navaei
+* @date    (last)      09-Nov-2025
 *
-* @author  (original)  Sean
-* @date    (original)  03-Oct-2024
+* @author  (original)  Sean Nash
+* @date    (original)  24-Oct-2024
 *
 ***************************************************************************/
 
@@ -33,28 +33,33 @@
 
 // ********** public definitions **********
 
-#define ROTARY_VALVE_MICROSTEP_FRACTION         32              ///< Rotary valve motors configured for 1/32 step microstepping.
+#define ROTARY_VALVE_MICROSTEP_FRACTION         8               ///< Rotary valve motors configured for 1/8 step microstepping.
 #define ROTARY_VALVE_GEAR_RATIO                 3.7F            ///< Rotary valve motor gear ratio is 3.7:1.
-#define ROTARY_VALVE_FULL_SWING_TRAVEL_DEG      200.0F          ///< Rotary valve swing arm travel range is appx. 200 degrees.
-#define ROTARY_VALVE_FULL_SWING_TRAVEL_COUNTS   2048            ///< Rotary valve swing arm travel range is appx. 2048 enconder counts.
+#define ROTARY_VALVE_INIT_FULL_SWING_COUNTS     1880            ///< Rotary valve swing arm travel range is appx. micro steps.
+#define ROTARY_VALVE_ENERGIZED_EDGE_MAX_COUNTS  1900            ///< Rotary valve energized edge maximum allowed counts.
+#define ROTARY_VALVE_ENERGIZED_EDGE_MIN_COUNTS  1700            ///< Rotary valve energized edge minimum allowed counts.
 
 /// rotary pinch valve names
 typedef enum valveNames
 {
-    H1_VALV = 0,                        ///< Arterial rotary pinch valve
-    FIRST_VALVE = H1_VALV,              ///< First valve
-    H19_VALV,                           ///< Venous rotary pinch valve
-    NUM_OF_VALVES                       ///< Number of valves
+    H1_VALV = 0,                                                ///< Arterial rotary pinch valve
+    FIRST_VALVE = H1_VALV,                                      ///< First valve
+    H19_VALV,                                                   ///< Venous rotary pinch valve
+    NUM_OF_VALVES                                               ///< Number of valves
 } VALVE_T;
 
 // ********** public function prototypes **********
 
 void initRotaryValvesDriver( void );
 void readValves( void );
 void setValveCmdChangePosition( VALVE_T valve, U16 mag, MOTOR_DIR_T dir );
-S16  getValveCmdTravel( VALVE_T valve );
 S16  getValveEncoderPosition( VALVE_T valve );
 
+void resetValve( VALVE_T valve );
+void resetValveEncoder( VALVE_T valve );
+void enableValve( VALVE_T valve );
+void setValveZeroEncoderPosition( VALVE_T valve );
+
 BOOL testValveEncoderPositionOverride( MESSAGE_T *message );
 BOOL testValveStatusOverride( MESSAGE_T *message );
 BOOL testSetValve( MESSAGE_T *message );