Index: firmware/App/Controllers/Valves.c
===================================================================
diff -u -r3aed94a6a0af49bed46f25c900f74e98997ac2e7 -r7a194faf1ace9385d62bfc36fdf81ad91532c52a
--- firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision 3aed94a6a0af49bed46f25c900f74e98997ac2e7)
+++ firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision 7a194faf1ace9385d62bfc36fdf81ad91532c52a)
@@ -88,7 +88,7 @@
 #define TRANSITION_STEP_CHANGE_IN_COUNTS        15000                                                   ///< Step change in counts during normal operations
 
 #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_TGT_IN_TRAVEL_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
@@ -681,7 +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_TGT_IN_HOMING_CNTS )
+    if ( deltaPosition > MAX_DEVIATION_FROM_TGT_IN_TRAVEL_CNTS )
     {
         if ( valvesStatus[ valve ].homingEdgeDetectionCounter >= HOMING_EDGE_DETECTION_TIME_INTERVAL )
         {
@@ -727,7 +727,7 @@
     S16 deltaPosition   = currentPosition - targetPosition;
 
     // 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 )
+    if ( deltaPosition > MAX_DEVIATION_FROM_TGT_IN_TRAVEL_CNTS )
     {
         // Are we stuck at end of travel?
         if ( valvesStatus[ valve ].homingEdgeDetectionCounter >= HOMING_EDGE_DETECTION_TIME_INTERVAL )
@@ -875,7 +875,7 @@
         if ( commandedPositionEnum == VALVE_POSITION_B_OPEN )
         {
             // Enable current relaxation
-            setFPGAValveSetPoint( valve, currentPosition, TRUE );
+            setFPGAValveSetPoint( valve, targetPosition, TRUE );
         }
 
         // Go back to Idle state
@@ -895,7 +895,7 @@
         }
     }
     // Check if the valve is close to the temporary target position and if it is, assign the next target position
-    else if ( abs( currentPosition - targetPosition ) < MAX_DEVIATION_FROM_TARGET_IN_COUNTS )
+    else if ( abs( currentPosition - targetPosition ) < MAX_DEVIATION_FROM_TGT_IN_TRAVEL_CNTS )
     {
         setValveNextStep( valve, TRANSITION_STEP_CHANGE_IN_COUNTS );
     }
@@ -1300,22 +1300,22 @@
             // 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: