Index: firmware/App/Controllers/Valves.c
===================================================================
diff -u -r575f9b78ced835f11c015d652be1bd8b83fc9578 -r3aed94a6a0af49bed46f25c900f74e98997ac2e7
--- firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision 575f9b78ced835f11c015d652be1bd8b83fc9578)
+++ firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision 3aed94a6a0af49bed46f25c900f74e98997ac2e7)
@@ -87,7 +87,8 @@
 #define HOMING_STEP_CHANGE_IN_COUNTS            1000                                                    ///< Step change in counts during homing
 #define TRANSITION_STEP_CHANGE_IN_COUNTS        15000                                                   ///< Step change in counts during normal operations
 
-#define MAX_DEVIATION_FROM_TARGET_IN_COUNTS     150                                                     ///< Maximum deviation from target in counts
+#define MAX_DEVIATION_FROM_TARGET_IN_COUNTS     2500                                                    ///< Maximum deviation from target in counts
+#define MAX_DEVIATION_FROM_TGT_IN_HOMING_CNTS   150                                                     ///< Maximum deviation from target in counts
 #define MAX_DEVIATION_FROM_TRAGET_IN_POS_B      1000                                                    ///< Maximum allowed deviation from position B in counts
 #define MAX_ALLOWED_FAILED_HOMINGS              3U                                                      ///< Maximum allowed failed homings
 /// The time that the valve must be at the edge to be considered for edge detection
@@ -680,7 +681,7 @@
     S16 deltaPosition   = targetPosition - currentPosition;
 
     // If there has not been any major travel for a certain period of time
-    if ( deltaPosition > MAX_DEVIATION_FROM_TARGET_IN_COUNTS )
+    if ( deltaPosition > MAX_DEVIATION_FROM_TGT_IN_HOMING_CNTS )
     {
         if ( valvesStatus[ valve ].homingEdgeDetectionCounter >= HOMING_EDGE_DETECTION_TIME_INTERVAL )
         {
@@ -725,10 +726,10 @@
     S16 targetPosition  = valvesStatus[ valve ].targetPositionInCounts;
     S16 deltaPosition   = currentPosition - targetPosition;
 
-    // If there has not been any major travel
-    if ( deltaPosition > MAX_DEVIATION_FROM_TARGET_IN_COUNTS )
+    // Still too far from intermediate target position?  Either still more travel to go or stuck at end of travel
+    if ( deltaPosition > MAX_DEVIATION_FROM_TGT_IN_HOMING_CNTS )
     {
-        // Check if the specified time has elapsed
+        // Are we stuck at end of travel?
         if ( valvesStatus[ valve ].homingEdgeDetectionCounter >= HOMING_EDGE_DETECTION_TIME_INTERVAL )
         {
             S16 energizedEdge = valvesStatus[ valve ].positions[ VALVE_POSITION_B_OPEN ];
@@ -737,15 +738,15 @@
             // The range from energized to de-energized should be in between 9000 to 13000 steps
             if ( deltaEdges <= INITIAL_ENERGIZED_EDGE_UPPER_RANGE && deltaEdges >= INITIAL_ENERGIZED_EDGE_LOWER_RANGE )
             {
-                 S16 positionB = valvesStatus[ valve ].positions[ VALVE_POSITION_B_OPEN ];
+                 S16 positionC = currentPosition + INITIAL_EDGE_OFFSET_READ_COUNT;
+                 S16 positionB = valvesStatus[ valve ].positions[ VALVE_POSITION_B_OPEN ] - INITIAL_EDGE_OFFSET_READ_COUNT;
 
                  // Positions B and C will have an offset from the edge to make sure each time the valve will not hit the edge
-                 valvesStatus[ valve ].positions[ VALVE_POSITION_B_OPEN ]  = positionB - INITIAL_EDGE_OFFSET_READ_COUNT;
+                 valvesStatus[ valve ].positions[ VALVE_POSITION_B_OPEN ]  = positionB;
+                 valvesStatus[ valve ].positions[ VALVE_POSITION_C_CLOSE ] = positionC;
 
-                 valvesStatus[ valve ].positions[ VALVE_POSITION_C_CLOSE ] = currentPosition + INITIAL_EDGE_OFFSET_READ_COUNT;
                  // Position A is the average of the Position B that was read last time and position C that was the target of this state
-                 valvesStatus[ valve ].positions[ VALVE_POSITION_A_INSERT_EJECT ] = ( valvesStatus[ valve ].positions[ VALVE_POSITION_B_OPEN ] -
-                                                                                      valvesStatus[ valve ].positions[ VALVE_POSITION_C_CLOSE ] ) / 2;
+                 valvesStatus[ valve ].positions[ VALVE_POSITION_A_INSERT_EJECT ] = positionC + ( ( positionB - positionC ) / 2 );
 
 #ifndef _RELEASE_
                  if ( ( getSoftwareConfigStatus( SW_CONFIG_ENABLE_VBA_SPECIAL_POSITION_C ) == SW_CONFIG_ENABLE_VALUE ) && ( VBA == valve ) )