Index: firmware/App/Controllers/Valves.c
===================================================================
diff -u -r9ee85cc1a178b3b619478b9b4386d5184537d73c -r470fde672305348c9a4f5002af814737fcfa00db
--- firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision 9ee85cc1a178b3b619478b9b4386d5184537d73c)
+++ firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision 470fde672305348c9a4f5002af814737fcfa00db)
@@ -540,17 +540,8 @@
     // handle a home request
     if ( TRUE == currentValveStates[ valve ].hasHomingBeenRequested )
     {
-        S16 tgtPos = currentValveStates[ valve ].positionsABC[ VALVE_POSITION_C_CLOSE ];
-        S16 mag    = currentValveStates[ valve ].currentEncPosition - tgtPos;                // calculate magnitude of position change
-
-        // Set commanded position and transition start time stamp
-        // Transition back to position C to try the next energized position. It has to start from position C
-        currentValveStates[ valve ].commandedPosition = VALVE_POSITION_C_CLOSE;
-        currentValveStates[ valve ].valveOpsStartTime = getMSTimerCount();
-        currentValveStates[ valve ].hasValveBeenReset = FALSE;
-        nextState                                     = VALVE_STATE_IN_TRANSITION;
-        // Command FPGA to move valve to commanded position
-        setValveCmdChangePosition( valve, (U16)(mag), MOTOR_DIR_REVERSE );
+        // Transition to homing not started. Reseting and enabling the valve and encoder is not needed
+        nextState = VALVE_STATE_HOMING_NOT_STARTED;
     }
     // handle a position change request
     else if ( TRUE == currentValveStates[ valve ].hasTransitionBeenRequested )
@@ -598,6 +589,7 @@
     if ( abs( delta ) < VALVE_TRANSITION_MIN_TGT_DELTA )
     {
         currentValveStates[ valve ].currentPosition = currentValveStates[ valve ].commandedPosition;
+        nextState                                   = VALVE_STATE_IDLE;
     }
     // is transition taking too long?
     else if ( ( TRUE == didTimeout( currentValveStates[ valve ].valveOpsStartTime, VALVE_TRANSITION_TIMEOUT_MS ) ) &&