Index: firmware/App/Controllers/Valves.c
===================================================================
diff -u -r0eb08506bbe69f0cfc272e0a329591ffdeb3fc95 -rc0544e0ad0a0e83f247760f26205d79b64279ebe
--- firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision 0eb08506bbe69f0cfc272e0a329591ffdeb3fc95)
+++ firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision c0544e0ad0a0e83f247760f26205d79b64279ebe)
@@ -15,6 +15,8 @@
 *
 ***************************************************************************/
 
+#include <math.h>
+
 #include "AlarmMgmtTD.h"
 #include "CpldInterface.h"
 #include "FpgaTD.h"
@@ -35,7 +37,7 @@
 
 #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_TRANSITION_MIN_TGT_DELTA      5                                                  ///< Minimum encoder position delta from target position to end transition state.
 #define VALVE_HOME_MIN_POS_CHG              3                                                   ///< Minimum encoder position change to indicate a home operation is still moving toward edge.
 #define VALVE_HOME_BACK_OFF_EDGE            3                                                   ///< Encoder counts to back off of detected edge position.
 #define MAX_HOME_FULL_TRAVEL_DIFF           10U                                                 ///< Maximum allowed difference in full travel encoder counts between expected and measured during home operation.
@@ -388,23 +390,13 @@
             currentValveStates[ valve ].valveOpsStartTime      = getMSTimerCount();
         }
     }
-    else if ( ( TRUE == currentValveStates[ valve ].homingOperationActive ) && ( FALSE == isPinchValveBusy( valve ) ) )
+    else if ( ( TRUE == currentValveStates[ valve ].homingOperationActive ) && ( TRUE == isPinchValveHomed( valve ) ) )
     {
         currentValveStates[ valve ].homingOperationActive = FALSE;
-
-        if ( TRUE == isPinchValveHomed( valve ) )
-        {
-            currentValveStates[ valve ].hasValveBeenHomed = TRUE;
-            currentValveStates[ valve ].commandedPosition = VALVE_POSITION_A_INSERT_EJECT;
-            currentValveStates[ valve ].currentPosition   = VALVE_POSITION_A_INSERT_EJECT;
-            nextState = VALVE_STATE_IDLE;
-        }
-        else
-        {
-            currentValveStates[ valve ].hasValveBeenHomed = FALSE;
-            currentValveStates[ valve ].currentPosition   = VALVE_POSITION_NOT_IN_POSITION;
-            nextState = VALVE_STATE_HOMING_NOT_HOMED;
-        }
+        currentValveStates[ valve ].hasValveBeenHomed = TRUE;
+        currentValveStates[ valve ].commandedPosition = VALVE_POSITION_C_CLOSE;
+        currentValveStates[ valve ].currentPosition   = VALVE_POSITION_C_CLOSE;
+        nextState = VALVE_STATE_IDLE;
     }
     else if ( ( TRUE == currentValveStates[ valve ].homingOperationActive ) &&
               ( TRUE == didTimeout( currentValveStates[ valve ].valveOpsStartTime, VALVE_TRANSITION_TIMEOUT_MS ) ) &&
@@ -478,7 +470,7 @@
         else
         {
             currentValveStates[ valve ].currentPosition   = VALVE_POSITION_NOT_IN_POSITION;
-            currentValveStates[ valve ].hasValveBeenHomed = FALSE;
+            // TODO - alarm
             nextState = VALVE_STATE_HOMING_NOT_HOMED;
         }
     }
@@ -520,11 +512,7 @@
     currentPosition = (S32)getPinchValvePosition( valve );
     targetPosition  = (S32)getPinchValveStoredPosition( valve, currentValveStates[ valve ].commandedPosition );
 
-    positionDelta = currentPosition - targetPosition;
-    if ( positionDelta < 0 )
-    {
-        positionDelta = -positionDelta;
-    }
+    positionDelta = abs( currentPosition - targetPosition );
 
     if ( positionDelta <= VALVE_TRANSITION_MIN_TGT_DELTA )
     {
@@ -556,6 +544,7 @@
             data.valveID      = (U32)valve;
             data.state        = (U32)currentValveStates[ valve ].controlState;
             data.currentPosID = (U32)currentValveStates[ valve ].currentPosition;
+            data.currentPos   = (S16)getPinchValvePosition( valve );
             data.cmdPos       = currentValveStates[ valve ].commandedPosition;
             data.posA         = (S16)getPinchValveStoredPosition( valve, VALVE_POSITION_A_INSERT_EJECT );
             data.posB         = (S16)getPinchValveStoredPosition( valve, VALVE_POSITION_B_OPEN );
@@ -614,8 +603,7 @@
             VALVE_PINCH_SET_CMD_PAYLOAD_T payload;
 
             memcpy( &payload, message->payload, sizeof(VALVE_PINCH_SET_CMD_PAYLOAD_T) );
-            if ( ( (VALVE_T)payload.valve < NUM_OF_VALVES ) && ( (VALVE_POSITION_T)payload.pos < NUM_OF_VALVE_POSITIONS ) &&
-                    ( (VALVE_POSITION_T)payload.pos < NUM_OF_VALVE_POSITIONS ) )
+            if ( ( (VALVE_T)payload.valve < NUM_OF_VALVES ) && ( (VALVE_POSITION_T)payload.pos < NUM_OF_VALVE_POSITIONS ) )
             {
                 result = setValvePosition( (VALVE_T)payload.valve, (VALVE_POSITION_T)payload.pos );
             }