Index: firmware/App/Controllers/Valves.c
===================================================================
diff -u -rd9b5f588d81e15ed3849222bed3362e15dbf4b0a -r8f913069e28f0d1913ede0a346ee1525986650d1
--- firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision d9b5f588d81e15ed3849222bed3362e15dbf4b0a)
+++ firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision 8f913069e28f0d1913ede0a346ee1525986650d1)
@@ -16,6 +16,7 @@
 ***************************************************************************/
 
 #include "AlarmMgmtTD.h"
+#include "CpldInterface.h"
 #include "Messaging.h"
 #include "OperationModes.h"
 #include "PersistentAlarm.h"
@@ -32,10 +33,12 @@
 
 #define VALVES_DATA_PUB_INTERVAL            ( MS_PER_SECOND / TASK_GENERAL_INTERVAL )           ///< Valves data publish interval.
 #define DATA_PUBLISH_COUNTER_START_COUNT    13                                                  ///< Valves data publish start counter.
+#define VALVE_TRANSITION_MIN_TGT_DELTA      10                                                  ///< Minimum encoder position delta from target position to end transition state.
 #define VALVE_HOME_MIN_POS_CHG              10                                                  ///< Minimum encoder position change to indicate a home operation is still moving toward edge.
 #define VALVE_HOME_BACK_OFF_EDGE            10                                                  ///< Encoder counts to back off of detected edge position.
 #define MAX_ALLOWED_FAILED_VALVE_HOMINGS    3U                                                  ///< Maximum allowed failed valve home attempts
 #define MAX_HOME_FULL_TRAVEL_DIFF           100U                                                ///< Maximum allowed difference in full travel encoder counts between expected and measured during home operation.
+#define VALVE_TRANSITION_TIMEOUT_MS         3000U                                               ///< Valves transition time out in ms
 
 /// Valve controller states
 typedef enum valve_Control_States
@@ -143,7 +146,8 @@
 
     if ( ( valve < NUM_OF_VALVES ) && ( position < NUM_OF_VALVE_POSITIONS ) )
     {
-        currentValveStates[ valve ].commandedPosition = position;
+        currentValveStates[ valve ].pendingCommandedPosition   = position;
+        currentValveStates[ valve ].hasTransitionBeenRequested = TRUE;
         result = TRUE;
     }
     else
@@ -192,11 +196,16 @@
 {
     VALVE_T valve;
 
-    // update valve readings
+    // get latest valve readings from FPGA
     readValves();
 
     for ( valve = FIRST_VALVE; valve < NUM_OF_VALVES; valve++ )
     {
+        // update valve encoder positions
+        currentValveStates[ valve ].priorEncPosition = currentValveStates[ valve ].currentEncPosition;
+        currentValveStates[ valve ].currentEncPosition = getValveEncoderPosition( valve );
+
+        // execute valve state machine
         switch( currentValveStates[ valve ].controlState )
         {
             case VALVE_STATE_WAIT_FOR_POST:
@@ -408,8 +417,8 @@
  * The handleValvesIdleState function handles the Idle state of the state
  * machine for a given valve.
  * @details \b Alarm: ALARM_ID_TD_SOFTWARE_FAULT if given valve is invalid.
- * @details \b Inputs:
- * @details \b Outputs:
+ * @details \b Inputs: currentValveStates[]
+ * @details \b Outputs: currentValveStates[], cmd to FPGA
  * @param valve ID of valve for which to handle the Idle state
  * @return next state of the state machine for the given valve
  *************************************************************************/
@@ -427,7 +436,22 @@
         // handle a position change request
         else if ( TRUE == currentValveStates[ valve ].hasTransitionBeenRequested )
         {
+            currentValveStates[ valve ].hasTransitionBeenRequested = FALSE;
+            if ( currentValveStates[ valve ].currentPosition != currentValveStates[ valve ].pendingCommandedPosition )
+            {
+                S16 curPos = currentValveStates[ valve ].currentEncPosition;
+                S16 tgtPos = currentValveStates[ valve ].positionsABC[ currentValveStates[ valve ].pendingCommandedPosition ];
+                S16 mag = tgtPos - curPos;                                              // calculate magnitude of position change
+                MOTOR_DIR_T dir = ( mag < 0 ? MOTOR_DIR_REVERSE : MOTOR_DIR_FORWARD );  // determine direction of position change
 
+                // set commanded position and transition start time stamp
+                currentValveStates[ valve ].commandedPosition   = currentValveStates[ valve ].pendingCommandedPosition;
+                currentValveStates[ valve ].transitionStartTime = getMSTimerCount();
+                // command FPGA to move valve to commanded position
+                setValveCmdChangePosition( valve, (U16)( abs(mag) ), dir );
+                // go on to transition state
+                nextState = VALVE_STATE_IN_TRANSITION;
+            }
         }
     }
     else
@@ -443,8 +467,8 @@
  * The handleValvesTransitionState function handles the Transition state
  * of the state machine for a given valve.
  * @details \b Alarm: ALARM_ID_TD_SOFTWARE_FAULT if given valve is invalid.
- * @details \b Inputs:
- * @details \b Outputs:
+ * @details \b Inputs: currentValveStates[]
+ * @details \b Outputs: currentValveStates[]
  * @param valve ID of valve for which to handle the Transition state
  * @return next state of the state machine for the given valve
  *************************************************************************/
@@ -454,7 +478,31 @@
 
     if ( valve < NUM_OF_VALVES )
     {
+        S16 curPos = currentValveStates[ valve ].currentEncPosition;
+        S16 tgtPos = currentValveStates[ valve ].positionsABC[ currentValveStates[ valve ].commandedPosition ];
+        S16 delta  = tgtPos - curPos;
 
+        // have we completed the transition?
+        if ( abs( delta ) < VALVE_TRANSITION_MIN_TGT_DELTA )
+        {
+            currentValveStates[ valve ].currentPosition = currentValveStates[ valve ].commandedPosition;
+            nextState = VALVE_STATE_IDLE;
+        }
+        // is transition taking too long?
+        else if ( ( TRUE == didTimeout( currentValveStates[ valve ].transitionStartTime, VALVE_TRANSITION_TIMEOUT_MS ) ) &&
+                  ( getCPLDACPowerLossDetected() != TRUE ) )
+        {
+            // Go back to Idle state and set the valve position to not in position because it was not able to get to the target position
+            currentValveStates[ valve ].currentPosition = VALVE_POSITION_NOT_IN_POSITION;
+            nextState = VALVE_STATE_IDLE;
+            // TODO SET_ALARM_WITH_1_U32_DATA( ALARM_ID_TD_VALVE_TRANSITION_TIMEOUT, (U32)valve );
+
+            // If the valve's commanded position is C, activate safety shutdown
+            if ( VALVE_POSITION_C_CLOSE == currentValveStates[ valve ].commandedPosition )
+            {
+                activateSafetyShutdown();
+            }
+        }
     }
     else
     {