Index: firmware/App/Controllers/Valves.c
===================================================================
diff -u -r575f9b78ced835f11c015d652be1bd8b83fc9578 -rc5b653fce3854c9c80a94d72aa5a0a04ab21a476
--- firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision 575f9b78ced835f11c015d652be1bd8b83fc9578)
+++ firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision c5b653fce3854c9c80a94d72aa5a0a04ab21a476)
@@ -276,9 +276,9 @@
     idx[ 0 ] = 0;
     memset(testPos[1], 0x0, 300 * sizeof(S32));
     idx[ 1 ] = 0;
-    memset(testPos[20], 0x0, 300 * sizeof(S32));
+    memset(testPos[2], 0x0, 300 * sizeof(S32));
     idx[ 2 ] = 0;
-    memset(testPos[30], 0x0, 300 * sizeof(S32));
+    memset(testPos[3], 0x0, 300 * sizeof(S32));
     idx[ 3 ] = 0;
     // TODO remove
 
@@ -725,10 +725,10 @@
     S16 targetPosition  = valvesStatus[ valve ].targetPositionInCounts;
     S16 deltaPosition   = currentPosition - targetPosition;
 
-    // If there has not been any major travel
+    // Still too far from intermediate target position?  Either still more travel to go or stuck at end of travel
     if ( deltaPosition > MAX_DEVIATION_FROM_TARGET_IN_COUNTS )
     {
-        // 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 ];
@@ -744,8 +744,7 @@
 
                  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 ] = currentPosition + ( ( valvesStatus[ valve ].positions[ VALVE_POSITION_B_OPEN ] - valvesStatus[ valve ].positions[ VALVE_POSITION_C_CLOSE ] ) / 2 );
 
 #ifndef _RELEASE_
                  if ( ( getSoftwareConfigStatus( SW_CONFIG_ENABLE_VBA_SPECIAL_POSITION_C ) == SW_CONFIG_ENABLE_VALUE ) && ( VBA == valve ) )