Index: firmware/App/Controllers/Valves.c
===================================================================
diff -u -r5aa897d2ca22435bf7ec90dfdf656facb740276a -rbe1f6ba8f58abfe098865c85ebca070eb0dde6ce
--- firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision 5aa897d2ca22435bf7ec90dfdf656facb740276a)
+++ firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision be1f6ba8f58abfe098865c85ebca070eb0dde6ce)
@@ -273,56 +273,49 @@
 
     for ( valve = FIRST_VALVE; valve < NUM_OF_VALVES; valve++ )
     {
-        if ( valve < NUM_OF_VALVES )
+        // update valve encoder positions
+        currentValveStates[ valve ].priorEncPosition   = currentValveStates[ valve ].currentEncPosition;
+        currentValveStates[ valve ].currentEncPosition = getValveEncoderPosition( valve );
+
+        // execute valve state machine
+        switch ( currentValveStates[ valve ].controlState )
         {
-            // update valve encoder positions
-            currentValveStates[ valve ].priorEncPosition   = currentValveStates[ valve ].currentEncPosition;
-            currentValveStates[ valve ].currentEncPosition = getValveEncoderPosition( valve );
+            case VALVE_STATE_WAIT_FOR_POST:
+                currentValveStates[ valve ].controlState = handleValvesWait4PostState( valve );
+                break;
 
-            // execute valve state machine
-            switch ( currentValveStates[ valve ].controlState )
-            {
-                case VALVE_STATE_WAIT_FOR_POST:
-                    currentValveStates[ valve ].controlState = handleValvesWait4PostState( valve );
-                    break;
+            case VALVE_STATE_RESET_VALVE:
+                currentValveStates[ valve ].controlState = handleValvesResetValve( valve );
+                break;
 
-                case VALVE_STATE_RESET_VALVE:
-                    currentValveStates[ valve ].controlState = handleValvesResetValve( valve );
-                    break;
+            case VALVE_STATE_RESET_ENCODER:
+                currentValveStates[ valve ].controlState = handleValvesResetEncoder( valve );
+                break;
 
-                case VALVE_STATE_RESET_ENCODER:
-                    currentValveStates[ valve ].controlState = handleValvesResetEncoder( valve );
-                    break;
+            case VALVE_STATE_ENABLE_VALVE:
+                currentValveStates[ valve ].controlState = handleValvesEnableValve( valve );
+                break;
 
-                case VALVE_STATE_ENABLE_VALVE:
-                    currentValveStates[ valve ].controlState = handleValvesEnableValve( valve );
-                    break;
+            case VALVE_STATE_HOMING_NOT_STARTED:
+                currentValveStates[ valve ].controlState = handleValvesNotHomedState( valve );
+                break;
 
-                case VALVE_STATE_HOMING_NOT_STARTED:
-                    currentValveStates[ valve ].controlState = handleValvesNotHomedState( valve );
-                    break;
+            case VALVE_STATE_HOMING_FIND_ENERGIZED_EDGE:
+                currentValveStates[ valve ].controlState = handleValvesFindEnergizedEdgeState( valve );
+                break;
 
-                case VALVE_STATE_HOMING_FIND_ENERGIZED_EDGE:
-                    currentValveStates[ valve ].controlState = handleValvesFindEnergizedEdgeState( valve );
-                    break;
+            case VALVE_STATE_IDLE:
+                currentValveStates[ valve ].controlState = handleValvesIdleState( valve );
+                break;
 
-                case VALVE_STATE_IDLE:
-                    currentValveStates[ valve ].controlState = handleValvesIdleState( valve );
-                    break;
+            case VALVE_STATE_IN_TRANSITION:
+                currentValveStates[ valve ].controlState = handleValvesTransitionState( valve );
+                break;
 
-                case VALVE_STATE_IN_TRANSITION:
-                    currentValveStates[ valve ].controlState = handleValvesTransitionState( valve );
-                    break;
-
-                default:
-                    SET_ALARM_WITH_2_U32_DATA( ALARM_ID_TD_SOFTWARE_FAULT, SW_FAULT_ID_TD_VALVES_INVALID_STATE, (U32)currentValveStates[ valve ].controlState )
-                    break;
-            }
+            default:
+                SET_ALARM_WITH_2_U32_DATA( ALARM_ID_TD_SOFTWARE_FAULT, SW_FAULT_ID_TD_VALVES_INVALID_STATE, (U32)currentValveStates[ valve ].controlState )
+                break;
         }
-        else
-        {
-            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_TD_SOFTWARE_FAULT, SW_FAULT_ID_TD_VALVES_INVALID_VALVE2, (U32)valve )
-        }
     }
 
     publishValvesData();
@@ -487,7 +480,7 @@
         // Position C is hard coded as count 8.
         // Position D is hard coded as an offset form 0.
         currentValveStates[ valve ].positionsABC[ VALVE_POSITION_C_CLOSE ]  = ROTARY_VALVE_MICROSTEP_FRACTION;
-        currentValveStates[ valve ].positionsABC[ VALVE_POSITION_D_VENOUS ] = POS_D_VENOUS_OFFSET_FROM_ZERO_CNT;
+        currentValveStates[ valve ].positionsABC[ VALVE_POSITION_D_PARTIAL_CLOSE ] = POS_D_VENOUS_OFFSET_FROM_ZERO_CNT;
         nextState                                                           = VALVE_STATE_HOMING_NOT_STARTED;
 #endif
 
@@ -611,7 +604,7 @@
             else
             {
                 S16 posC = currentValveStates[ valve ].positionsABC[ VALVE_POSITION_C_CLOSE ];
-                S16 posA = posC + ( curPos / 2 );
+                S16 posA = posC + ( ( curPos - posC ) / 2 );
 
                 // If position A was calculated to not be a division of 8 it is rounded down to be a division of 8
                 posA = ( posA % ROTARY_VALVE_MICROSTEP_FRACTION ) < 4 ? ( posA >> 3 ) << 3 : posA;
@@ -802,6 +795,7 @@
             data.posA         = currentValveStates[ valve ].positionsABC[ VALVE_POSITION_A_INSERT_EJECT ];
             data.posB         = currentValveStates[ valve ].positionsABC[ VALVE_POSITION_B_OPEN ];
             data.posC         = currentValveStates[ valve ].positionsABC[ VALVE_POSITION_C_CLOSE ];
+            data.posD         = currentValveStates[ valve ].positionsABC[ VALVE_POSITION_D_PARTIAL_CLOSE ];
 
             broadcastData( MSG_ID_TD_VALVES_DATA, COMM_BUFFER_OUT_CAN_TD_BROADCAST, (U08*)&data, sizeof( TD_VALVE_DATA_T ) );
         }