Index: firmware/App/Drivers/PinchValve.h
===================================================================
diff -u -ra02481d0934a1a13209d652c24837e4f56869c43 -r1f3e57c1351a085c6a05105a50ef73393cc974c6
--- firmware/App/Drivers/PinchValve.h	(.../PinchValve.h)	(revision a02481d0934a1a13209d652c24837e4f56869c43)
+++ firmware/App/Drivers/PinchValve.h	(.../PinchValve.h)	(revision 1f3e57c1351a085c6a05105a50ef73393cc974c6)
@@ -32,56 +32,22 @@
  *  @{
  */
 
-// ********** public definitions **********
 
-#define PINCH_VALVE_MAX_INPUT_WORDS              3   ///< Maximum number of command input words.
-#define PINCH_VALVE_MAX_OUTPUT_WORDS             3   ///< Maximum number of command output words.
-
-/// Pinch valve command request.
-typedef struct
-{
-    U16 cmdHeader;                                   ///< Command header.
-    U16 inputWord1;                                  ///< Input word 1.
-    U16 inputWord2;                                  ///< Input word 2.
-    U16 inputWord3;                                  ///< Input word 3.
-    U08 inputWordCount;                              ///< Number of valid input words, excluding the command header.
-    U08 outputWordCount;                             ///< Number of output words expected.
-    BOOL writeOnly;                                  ///< TRUE for a write-only command.
-} PINCH_VALVE_COMMAND_T;
-
-/// Pinch valve command response.
-typedef struct
-{
-    U16 outputWord1;                                 ///< Output word 1.
-    U16 outputWord2;                                 ///< Output word 2.
-    U16 outputWord3;                                 ///< Output word 3.
-    U08 spiCmdStatus;                                ///< FPGA SPI command status.
-    U08 readCount;                                   ///< FPGA read count.
-    U08 errorCount;                                  ///< FPGA invalid command error count.
-} PINCH_VALVE_RESPONSE_T;
-
-/// Pinch valve driver command result.
-typedef enum pinchValveCommandResults
-{
-    PINCH_VALVE_CMD_RESULT_IDLE = 0,                 ///< No command has been requested.
-    PINCH_VALVE_CMD_RESULT_BUSY,                     ///< Command is executing.
-    PINCH_VALVE_CMD_RESULT_COMPLETE,                 ///< Command completed successfully.
-    PINCH_VALVE_CMD_RESULT_ERROR                     ///< Command failed.
-} PINCH_VALVE_CMD_RESULT_T;
-
 // ********** public function prototypes **********
 
 void initPinchValveDriver( void );
 void execPinchValveDriver( void );
+void execPinchValveFunction( void );
+void execPinchValveCommand( void );
 
-BOOL setPinchValveCommand( VALVE_T valve, const PINCH_VALVE_COMMAND_T *command );
+BOOL homePinchValve( VALVE_T valve );
+BOOL setPinchValvePosition( VALVE_T valve, S32 position );
+S32  getPinchValvePosition( VALVE_T valve );
 
 void setPinchValveEnableReset( VALVE_T valve, BOOL enable, BOOL reset );
-U08 getPinchValveEnableReset( VALVE_T valve );
+U08  getPinchValveEnableReset( VALVE_T valve );
 
 BOOL isPinchValveBusy( void );
-PINCH_VALVE_CMD_RESULT_T getPinchValveCommandResult( void );
-BOOL getPinchValveResponse( VALVE_T valve, PINCH_VALVE_RESPONSE_T *response );
 
 /**@}*/