Index: firmware/App/Controllers/Valves.c
===================================================================
diff -u -r660a411129a92b9519b0cd34d41dba79953616e5 -red5ca124f43111316fce2a5fb18cf54c72629d6a
--- firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision 660a411129a92b9519b0cd34d41dba79953616e5)
+++ firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision ed5ca124f43111316fce2a5fb18cf54c72629d6a)
@@ -87,6 +87,7 @@
 static VALVE_STATUS_T currentValveStates[ NUM_OF_VALVES ];                                      ///< Current status of each valve.
 static U32 valvesDataPublicationTimerCounter;                                                   ///< Valves data broadcast timer counter.
 static OVERRIDE_U32_T valvesDataPublishInterval;                                                ///< Valves data broadcast interval (in ms).
+static VALVE_POSITION_T pendingValvePositionChange[ NUM_OF_VALVES ];                            ///< Pending position request for each valve
 
 // ********** private function prototypes **********
 
@@ -131,6 +132,8 @@
         currentValveStates[ valve ].homingOperationActive      = FALSE;
         currentValveStates[ valve ].controlState               = VALVE_STATE_WAIT_FOR_POST;
         currentValveStates[ valve ].valveOpsStartTime          = 0;
+
+        pendingValvePositionChange[ valve ] = VALVE_POSITION_NOT_IN_POSITION;
     }
 
 
@@ -203,11 +206,9 @@
     if ( ( valve < NUM_OF_VALVES ) && ( position > VALVE_POSITION_NOT_IN_POSITION ) && ( position < NUM_OF_VALVE_POSITIONS ) )
     {
         if ( ( TRUE == currentValveStates[ valve ].hasValveBeenHomed ) &&
-             ( FALSE == isPinchValveBusy( valve ) ) &&
-             ( FALSE == currentValveStates[ valve ].hasTransitionBeenRequested ) &&
              ( FALSE == currentValveStates[ valve ].homingOperationActive ) )
         {
-            currentValveStates[ valve ].pendingCommandedPosition   = position;
+            pendingValvePositionChange[ valve ] = position;
             currentValveStates[ valve ].hasTransitionBeenRequested = TRUE;
             result = TRUE;
         }
@@ -427,6 +428,7 @@
 {
     VALVE_STATE_T nextState = VALVE_STATE_IDLE;
 
+
     if ( TRUE == currentValveStates[ valve ].hasHomingBeenRequested )
     {
         currentValveStates[ valve ].hasValveBeenHomed     = FALSE;
@@ -436,8 +438,10 @@
     }
     else if ( TRUE == currentValveStates[ valve ].hasTransitionBeenRequested )
     {
+        currentValveStates[ valve ].pendingCommandedPosition   = pendingValvePositionChange[ valve ];
         if ( TRUE == movePinchValveToStoredPosition( valve, currentValveStates[ valve ].pendingCommandedPosition ) )
         {
+            pendingValvePositionChange[ valve ] = VALVE_POSITION_NOT_IN_POSITION;
             currentValveStates[ valve ].hasTransitionBeenRequested = FALSE;
             currentValveStates[ valve ].commandedPosition          = currentValveStates[ valve ].pendingCommandedPosition;
             currentValveStates[ valve ].currentPosition            = VALVE_POSITION_NOT_IN_POSITION;