Index: firmware/App/Controllers/Valves.c
===================================================================
diff -u -r2b760b79a846c77a932b6df6c489faee96a544a0 -re0060cd79d971c0ed94b8aed6949d2754480fe92
--- firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision 2b760b79a846c77a932b6df6c489faee96a544a0)
+++ firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision e0060cd79d971c0ed94b8aed6949d2754480fe92)
@@ -119,7 +119,7 @@
 void initValves( void )
 {
     // Initialize driver
-    initPinchValveDriver();
+    //initRotaryValvesDriver();
 
     // Initialize controller variables
     memset( &currentValveStates[0], 0, sizeof( currentValveStates ) );
@@ -154,11 +154,11 @@
 BOOL homeValve( VALVE_T valve, BOOL force, BOOL cartridge )
 {
     BOOL result = FALSE;
-    (void)force;
-    (void)cartridge;
+    //void)force;
+    //(void)cartridge;
     if ( valve < NUM_OF_VALVES )
     {
-        result = homePinchValve( valve );
+        //result = homePinchValve( valve );
         if ( TRUE == result )
         {
             currentValveStates[valve].hasHomingBeenRequested = TRUE;
@@ -265,16 +265,16 @@
     VALVE_T valve;
 
     // get latest valve readings from FPGA
-    readValves();
+    //readValves();
 
     for ( valve = FIRST_VALVE; valve < NUM_OF_VALVES; valve++ )
     {
         // Update valve encoder positions
         currentValveStates[ valve ].priorEncPosition          = currentValveStates[ valve ].currentEncPosition;
-        currentValveStates[ valve ].currentEncPosition        = getValveEncoderPosition( valve );
+        //currentValveStates[ valve ].currentEncPosition        = getValveEncoderPosition( valve );
         // Update valve max encoder positions
         currentValveStates[ valve ].previousMaxEncPositionCnt = currentValveStates[ valve ].currentMaxEncPositionCnt;
-        currentValveStates[ valve ].currentMaxEncPositionCnt  = getValveMaximumEncoderPosition( valve );
+        //currentValveStates[ valve ].currentMaxEncPositionCnt  = getValveMaximumEncoderPosition( valve );
 
         // execute valve state machine
         switch ( currentValveStates[ valve ].controlState )
@@ -386,7 +386,7 @@
     VALVE_STATE_T nextState = VALVE_STATE_RESET_ENCODER;
 
     checkValveInRange( valve, SW_FAULT_ID_TD_VALVES_INVALID_RESET );
-    resetValve( valve );
+    //resetValve( valve );
 
     return nextState;
 }
@@ -405,7 +405,7 @@
     VALVE_STATE_T nextState = VALVE_STATE_ENABLE_VALVE;
 
     checkValveInRange( valve, SW_FAULT_ID_TD_VALVES_INVALID_RESET_ENCODER );
-    resetValveEncoder( valve );
+    //resetValveEncoder( valve );
     // Set the timer for the first debounce read
     currentValveStates[ valve ].valveOpsStartTime = getMSTimerCount();
 
@@ -424,26 +424,26 @@
 static VALVE_STATE_T handleValvesEnableValve( VALVE_T valve )
 {
     VALVE_STATE_T nextState = VALVE_STATE_ENABLE_VALVE;
-    S16 valveEncPosistion   = getValveEncoderPosition( valve );
+    //S16 valveEncPosistion   = getValveEncoderPosition( valve );
 
     checkValveInRange( valve, SW_FAULT_ID_TD_VALVES_INVALID_ENABLE );
 
     if ( FALSE == currentValveStates[ valve ].hasValveBeenReset )
     {
-        enableValve( valve );
+        //enableValve( valve );
         currentValveStates[ valve ].hasValveBeenReset = TRUE;
     }
     else
     {
-        setValveZeroEncoderPosition( valve );
+        //setValveZeroEncoderPosition( valve );
     }
 
-    if ( valveEncPosistion >= ZERO_ENC_DEBOUNCE_THRESHOLD_CNT )
+    //if ( valveEncPosistion >= ZERO_ENC_DEBOUNCE_THRESHOLD_CNT )
     {
         // Keep reseting the debounce timer until the encoder count is less than the encoder count is less than the number
         currentValveStates[ valve ].valveOpsStartTime = getMSTimerCount();
     }
-    else if ( TRUE == didTimeout( currentValveStates[ valve ].valveOpsStartTime, ZERO_ENC_DEBOUNCE_TIMEOUT_MS ) )
+    //else if ( TRUE == didTimeout( currentValveStates[ valve ].valveOpsStartTime, ZERO_ENC_DEBOUNCE_TIMEOUT_MS ) )
     {
         nextState = VALVE_STATE_HOMING_NOT_STARTED;
     }
@@ -469,7 +469,7 @@
     if ( TRUE == currentValveStates[ valve ].hasHomingBeenRequested )
     {
         // Getting ready for homing enable the homing bit upon transitioning to homing not started
-        setValveHomingEnableDisable( valve, TRUE );
+        //setValveHomingEnableDisable( valve, TRUE );
 
         // TODO figure out the new valve homing failure alarm
         // SET_ALARM_WITH_2_U32_DATA( ALARM_ID_TD_VALVE_HOMING_FAILED, (U32)valve, (U32)currentValveStates[ valve ].proposedEnergizedPos )
@@ -479,7 +479,7 @@
         currentValveStates[ valve ].hasValveBeenHomed = FALSE;
         currentValveStates[ valve ].currentPosition   = VALVE_POSITION_NOT_IN_POSITION;
         nextState                                     = VALVE_STATE_HOMING_FIND_ENERGIZED_EDGE;
-        setValveCmdChangePosition( valve, (U16)ROTARY_VALVE_INIT_ENERGIZED_COUNTS, MOTOR_DIR_FORWARD );
+        //setValveCmdChangePosition( valve, (U16)ROTARY_VALVE_INIT_ENERGIZED_COUNTS, MOTOR_DIR_FORWARD );
     }
 
     return nextState;
@@ -527,7 +527,7 @@
     checkValveInRange( valve, SW_FAULT_ID_TD_VALVES_INVALID_FIND_DEENERGIZED_EDGE );
 
     // Done with homing disable the homing bit
-    setValveHomingEnableDisable( valve, FALSE );
+    //setValveHomingEnableDisable( valve, FALSE );
 
     // TODO in the future this needs to be searched
     currentValveStates[ valve ].positionsABC[ VALVE_POSITION_C_CLOSE ]         = VALVE_OFFEST_FROM_EDG_CNT;
@@ -569,7 +569,7 @@
     if ( TRUE == currentValveStates[ valve ].hasHomingBeenRequested )
     {
         // Homing has been requested, enable the homing bit.
-        setValveHomingEnableDisable( valve, TRUE );
+        //setValveHomingEnableDisable( valve, TRUE );
         // Transition to enable homing to set the encode to 0.
         nextState = VALVE_STATE_ENABLE_VALVE;
     }
@@ -590,7 +590,7 @@
             nextState                                     = VALVE_STATE_IN_TRANSITION;
 
             // Command FPGA to move valve to commanded position
-            setValveCmdChangePosition( valve, (U16)( abs(mag) ), dir );
+            //setValveCmdChangePosition( valve, (U16)( abs(mag) ), dir );
         }
     }
 
@@ -747,7 +747,7 @@
             data.valveID      = (U32)valve;
             data.state        = (U32)currentValveStates[ valve ].controlState;
             data.currentPosID = (U32)currentValveStates[ valve ].currentPosition;
-            data.currentPos   = getValveEncoderPosition( valve );
+            //data.currentPos   = getValveEncoderPosition( valve );
             data.cmdPos       = currentValveStates[ valve ].commandedPosition;
             data.posA         = currentValveStates[ valve ].positionsABC[ VALVE_POSITION_A_INSERT_EJECT ];
             data.posB         = currentValveStates[ valve ].positionsABC[ VALVE_POSITION_B_OPEN ];