Index: firmware/App/Controllers/Valves.c
===================================================================
diff -u -rc9b434898a8bbe9143b243627ea081e5e0f7a861 -r8ac6dbd310f7408760e5cad232b1e9834882f739
--- firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision c9b434898a8bbe9143b243627ea081e5e0f7a861)
+++ firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision 8ac6dbd310f7408760e5cad232b1e9834882f739)
@@ -863,7 +863,7 @@
         if ( commandedPositionEnum == VALVE_POSITION_B_OPEN )
         {
             // Enable current relaxation
-            setFPGAValveSetPoint( valve, currentPosition, TRUE );
+            setFPGAValveSetPoint( valve, targetPosition, TRUE );
         }
 
         // Go back to Idle state
@@ -1290,22 +1290,22 @@
             // Subtract the defined number of steps for the next transition
             if ( commandedPositionEnum == VALVE_POSITION_B_OPEN )
             {
-                valvesStatus[ valve ].targetPositionInCounts = getValvePositionCounts( valve ) + nextStep;
+                valvesStatus[ valve ].targetPositionInCounts = currentPosition + nextStep;
             }
             if ( commandedPositionEnum == VALVE_POSITION_C_CLOSE )
             {
-                valvesStatus[ valve ].targetPositionInCounts = getValvePositionCounts( valve ) - nextStep;
+                valvesStatus[ valve ].targetPositionInCounts = currentPosition - nextStep;
             }
             break;
 
         case VALVE_POSITION_B_OPEN:
             // If the valve is currently in position B, subtract the defined number of steps for the next transition
-            valvesStatus[ valve ].targetPositionInCounts = getValvePositionCounts( valve ) - nextStep;
+            valvesStatus[ valve ].targetPositionInCounts = currentPosition - nextStep;
             break;
 
         case VALVE_POSITION_C_CLOSE:
             // If the valve is currently in position C, add the defined number of steps for the next transition
-            valvesStatus[ valve ].targetPositionInCounts = getValvePositionCounts( valve ) + nextStep;
+            valvesStatus[ valve ].targetPositionInCounts = currentPosition + nextStep;
             break;
 
         default: