Index: firmware/App/Drivers/PinchValve.c
===================================================================
diff -u -r2c16de14d2acd2aa1e36943f95c3855da094dc97 -r3479c42f6bf13fb6c565cc48ba13936e1ec22be9
--- firmware/App/Drivers/PinchValve.c	(.../PinchValve.c)	(revision 2c16de14d2acd2aa1e36943f95c3855da094dc97)
+++ firmware/App/Drivers/PinchValve.c	(.../PinchValve.c)	(revision 3479c42f6bf13fb6c565cc48ba13936e1ec22be9)
@@ -131,6 +131,7 @@
     PINCH_VALVE_HOME_CMD_RESET_EVENTS_COMPLETE,                             ///< Pinch valve home command reset events complete
     PINCH_VALVE_HOME_CMD_SET_PROFILE_MODE_SECOND,                           ///< Pinch valve home command set profile mode second
     PINCH_VALVE_HOME_CMD_SET_VELOCITY_THIRD,                                ///< Pinch valve home command set velocity third
+    PINCH_VALVE_HOME_CMD_SET_POSITION_A,
     PINCH_VALVE_HOME_CMD_UPDATE_THIRD,                                      ///< Pinch valve home command update third
     PINCH_VALVE_HOME_CMD_GET_EVENT_STATUS_THIRD,                            ///< Pinch valve home command get event status third
     NUM_OF_PINCH_VALVE_HOMING_COMMANDS                                      ///< Number of pinch valve in the homing commands
@@ -170,6 +171,7 @@
     { PINCH_VALVE_PMD_CMD_GET_ACTUAL_POSITION, 0, 0, 0, 0, 2, FALSE },                                         // Reads and stores for position C
     { PINCH_VALVE_PMD_CMD_RESET_EVENT_STATUS, PINCH_VALVE_RESET_EVENT_STATUS_VALUE, 0, 0, 1, 0, TRUE },        // Clears event bits after endpoint detection is complete.
     { PINCH_VALVE_PMD_CMD_SET_PROFILE_MODE, PINCH_VALVE_PROFILE_MODE_S_CURVE, 0, 0, 1, 0, TRUE },              // Selects the profile mode used to move to position A
+    { PINCH_VALVE_PMD_CMD_SET_POSITION, 0, 0, 0, 2, 0, TRUE },       // Set calculated Position A
     { PINCH_VALVE_PMD_CMD_SET_VELOCITY, 0, 0, 0, 2, 0, TRUE },                                                 // Sets the velocity used to move to position A
     { PINCH_VALVE_PMD_CMD_UPDATE, 0, 0, 0, 0, 0, TRUE },                                                       // Starts movement to the calculated position A.
     { PINCH_VALVE_PMD_CMD_GET_EVENT_STATUS, 0, 0, 0, 0, 1, FALSE }                                             // Polls event status until the third movement completes
@@ -193,6 +195,7 @@
     { PINCH_VALVE_PMD_CMD_GET_ACTUAL_POSITION, 0, 0, 0, 0, 2, FALSE },                                         // Reads and stores for position C
     { PINCH_VALVE_PMD_CMD_RESET_EVENT_STATUS, PINCH_VALVE_RESET_EVENT_STATUS_VALUE, 0, 0, 1, 0, TRUE },        // Clears event bits after endpoint detection is complete
     { PINCH_VALVE_PMD_CMD_SET_PROFILE_MODE, PINCH_VALVE_PROFILE_MODE_S_CURVE, 0, 0, 1, 0, TRUE },              // Selects the profile mode used to move to position A
+    { PINCH_VALVE_PMD_CMD_SET_POSITION, 0, 0, 0, 2, 0, TRUE },       // Set calculated Position A
     { PINCH_VALVE_PMD_CMD_SET_VELOCITY, 0, 0, 0, 2, 0, TRUE },                                                 // Sets the velocity used to move to position A
     { PINCH_VALVE_PMD_CMD_UPDATE, 0, 0, 0, 0, 0, TRUE },                                                       // Starts movement to the calculated position A.
     { PINCH_VALVE_PMD_CMD_GET_EVENT_STATUS, 0, 0, 0, 0, 1, FALSE }                                             // Polls event status until the third movement completes
@@ -1200,6 +1203,15 @@
                         positionB = valvePositions[ valve ][ VALVE_POSITION_B_OPEN ];
                         positionC = valvePositions[ valve ][ VALVE_POSITION_C_CLOSE ];
                         valvePositions[ valve ][ VALVE_POSITION_A_INSERT_EJECT ] = positionB + ( ( positionC - positionB ) / 2 );
+                        if ( H1_VALV == valve )
+                        {
+                            setSigned32CommandWords(  &h1HomingCommands[ PINCH_VALVE_HOME_CMD_SET_POSITION_A ], valvePositions[ valve ][ VALVE_POSITION_A_INSERT_EJECT ] );
+                        }
+                        else if ( H19_VALV == valve )
+                        {
+                            setSigned32CommandWords( &h19HomingCommands[ PINCH_VALVE_HOME_CMD_SET_POSITION_A ],
+                                valvePositions[ valve ][ VALVE_POSITION_A_INSERT_EJECT ] );
+                        }
                         break;
 
                    default: