Index: firmware/App/Controllers/Valves.c
===================================================================
diff -u -red5ca124f43111316fce2a5fb18cf54c72629d6a -r6433fff760cca163a6855430d2282378627a4fc9
--- firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision ed5ca124f43111316fce2a5fb18cf54c72629d6a)
+++ firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision 6433fff760cca163a6855430d2282378627a4fc9)
@@ -56,7 +56,6 @@
 {
     VALVE_POSITION_T commandedPosition;                                                         ///< Valve commanded position enum.
     VALVE_POSITION_T currentPosition;                                                           ///< Valve current position enum.
-    VALVE_POSITION_T pendingCommandedPosition;                                                  ///< Valve pending position enum.
     S16              priorEncPosition;                                                          ///< Valve prior position in encoder counts.
     BOOL             hasTransitionBeenRequested;                                                ///< Valve transition request flag.
     VALVE_STATE_T    controlState;                                                              ///< Valve control state.
@@ -125,15 +124,14 @@
     {
         currentValveStates[ valve ].commandedPosition          = VALVE_POSITION_NOT_IN_POSITION;
         currentValveStates[ valve ].currentPosition            = VALVE_POSITION_NOT_IN_POSITION;
-        currentValveStates[ valve ].pendingCommandedPosition   = VALVE_POSITION_NOT_IN_POSITION;
         currentValveStates[ valve ].hasTransitionBeenRequested = FALSE;
         currentValveStates[ valve ].hasHomingBeenRequested     = FALSE;
         currentValveStates[ valve ].hasValveBeenHomed          = FALSE;
         currentValveStates[ valve ].homingOperationActive      = FALSE;
         currentValveStates[ valve ].controlState               = VALVE_STATE_WAIT_FOR_POST;
         currentValveStates[ valve ].valveOpsStartTime          = 0;
 
-        pendingValvePositionChange[ valve ] = VALVE_POSITION_NOT_IN_POSITION;
+        pendingValvePositionChange[ valve ]                    = VALVE_POSITION_NOT_IN_POSITION;
     }
 
 
@@ -206,7 +204,8 @@
     if ( ( valve < NUM_OF_VALVES ) && ( position > VALVE_POSITION_NOT_IN_POSITION ) && ( position < NUM_OF_VALVE_POSITIONS ) )
     {
         if ( ( TRUE == currentValveStates[ valve ].hasValveBeenHomed ) &&
-             ( FALSE == currentValveStates[ valve ].homingOperationActive ) )
+             ( FALSE == currentValveStates[ valve ].homingOperationActive ) &&
+             ( currentValveStates[ valve ].commandedPosition != position ) )
         {
             pendingValvePositionChange[ valve ] = position;
             currentValveStates[ valve ].hasTransitionBeenRequested = TRUE;
@@ -438,14 +437,13 @@
     }
     else if ( TRUE == currentValveStates[ valve ].hasTransitionBeenRequested )
     {
-        currentValveStates[ valve ].pendingCommandedPosition   = pendingValvePositionChange[ valve ];
-        if ( TRUE == movePinchValveToStoredPosition( valve, currentValveStates[ valve ].pendingCommandedPosition ) )
+        if ( TRUE == movePinchValveToStoredPosition( valve, pendingValvePositionChange[ valve ] ) )
         {
-            pendingValvePositionChange[ valve ] = VALVE_POSITION_NOT_IN_POSITION;
             currentValveStates[ valve ].hasTransitionBeenRequested = FALSE;
-            currentValveStates[ valve ].commandedPosition          = currentValveStates[ valve ].pendingCommandedPosition;
+            currentValveStates[ valve ].commandedPosition          = pendingValvePositionChange[ valve ];
             currentValveStates[ valve ].currentPosition            = VALVE_POSITION_NOT_IN_POSITION;
             currentValveStates[ valve ].valveOpsStartTime          = getMSTimerCount();
+            pendingValvePositionChange[ valve ]                    = VALVE_POSITION_NOT_IN_POSITION;
             nextState                                              = VALVE_STATE_IN_TRANSITION;
         }
     }
@@ -541,12 +539,12 @@
 static VALVE_POSITION_T getCurrentValveABCPosition( VALVE_T valve )
 {
     VALVE_POSITION_T result = VALVE_POSITION_NOT_IN_POSITION;
+    S32 pos                 = getPinchValvePosition( valve );
     VALVE_POSITION_T p;
 
     for ( p = VALVE_POSITION_A_INSERT_EJECT; p < NUM_OF_VALVE_POSITIONS; p++ )
     {
-        S32 pos            = getPinchValveStoredPosition( valve, p );
-        S32 targetPosition = getPinchValveStoredPosition( valve, currentValveStates[ valve ].commandedPosition );
+        S32 targetPosition = getPinchValveStoredPosition( valve, p );
         S32 positionDelta  = abs( pos - targetPosition );
 
         if ( positionDelta <= VALVE_TRANSITION_MIN_TGT_DELTA )
@@ -582,7 +580,7 @@
             data.state        = (U32)currentValveStates[ valve ].controlState;
             data.currentPosID = (U32)currentValveStates[ valve ].currentPosition;
             data.currentPos   = (S16)getPinchValvePosition( valve );
-            data.cmdPos       = currentValveStates[ valve ].commandedPosition;
+            data.cmdPos       = (S16)currentValveStates[ valve ].commandedPosition;
             data.posA         = (S16)getPinchValveStoredPosition( valve, VALVE_POSITION_A_INSERT_EJECT );
             data.posB         = (S16)getPinchValveStoredPosition( valve, VALVE_POSITION_B_OPEN );
             data.posC         = (S16)getPinchValveStoredPosition( valve, VALVE_POSITION_C_CLOSE );