Index: firmware/App/Drivers/RotaryValve.c
===================================================================
diff -u -r8de3c971a08a5e2d822a6a1d1d1c477b6d4cbd5b -r9d11c51da60da3f8d2917433938a583f8a105318
--- firmware/App/Drivers/RotaryValve.c	(.../RotaryValve.c)	(revision 8de3c971a08a5e2d822a6a1d1d1c477b6d4cbd5b)
+++ firmware/App/Drivers/RotaryValve.c	(.../RotaryValve.c)	(revision 9d11c51da60da3f8d2917433938a583f8a105318)
@@ -213,7 +213,125 @@
     return result;
 }
 
+/*********************************************************************//**
+ * @brief
+ * The resetValve function resets the valve.
+ * @details \b Alarm: ALARM_ID_TD_SOFTWARE_FAULT if invalid valve given.
+ * @details \b Inputs: valveStatus[]
+ * @details \b Outputs: none
+ * @param valve ID of valve to get status for
+ * @return none
+ *************************************************************************/
+void resetValve( VALVE_T valve )
+{
+    U08 resetValve = FPGA_PINCH_VALVES_1_8_STEP | FPGA_PINCH_VALVES_ENABLE_ENCODER | FPGA_PINCH_VALVES_DISABLE |
+                     FPGA_PINCH_VALVES_RESET | FPGA_PINCH_VALVES_NOT_SLEEP;
 
+    switch ( valve )
+    {
+        case H1_VALV:
+            setH1Control( resetValve );
+            break;
+
+        case H19_VALV:
+            setH19Control( resetValve );
+            break;
+
+        default:
+            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_TD_SOFTWARE_FAULT, SW_FAULT_ID_VALVES_INVALID_VALVE_RESET_REQ, (U32)valve )
+            break;
+    }
+}
+
+/*********************************************************************//**
+ * @brief
+ * The resetValveEncoder function resets the valve's encoder.
+ * @details \b Alarm: ALARM_ID_TD_SOFTWARE_FAULT if invalid valve given.
+ * @details \b Inputs: valveStatus[]
+ * @details \b Outputs: none
+ * @param valve ID of valve to get status for
+ * @return none
+ *************************************************************************/
+void resetValveEncoder( VALVE_T valve )
+{
+    U08 resetEnc = FPGA_PINCH_VALVES_1_8_STEP | FPGA_PINCH_VALVES_RESET_ENCODER | FPGA_PINCH_VALVES_DISABLE |
+                   FPGA_PINCH_VALVES_RESET | FPGA_PINCH_VALVES_NOT_SLEEP;
+
+    switch ( valve )
+    {
+        case H1_VALV:
+            setH1Control( resetEnc );
+            break;
+
+        case H19_VALV:
+            setH19Control( resetEnc );
+            break;
+
+        default:
+            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_TD_SOFTWARE_FAULT, SW_FAULT_ID_VALVES_INVALID_VALVE_RESET_ENCODER_REQ, (U32)valve )
+            break;
+    }
+}
+
+/*********************************************************************//**
+ * @brief
+ * The enableValve function enables the valve.
+ * @details \b Alarm: ALARM_ID_TD_SOFTWARE_FAULT if invalid valve given.
+ * @details \b Inputs: valveStatus[]
+ * @details \b Outputs: none
+ * @param valve ID of valve to get status for
+ * @return none
+ *************************************************************************/
+void enableValve( VALVE_T valve )
+{
+    U08 enableValve = FPGA_PINCH_VALVES_1_8_STEP | FPGA_PINCH_VALVES_ENABLE_ENCODER | FPAG_PINCH_VALVES_ENABLE |
+                      FPGA_PINCH_VALVES_NOT_RESET | FPGA_PINCH_VALVES_NOT_SLEEP;
+
+    switch ( valve )
+    {
+        case H1_VALV:
+            setH1Control( enableValve );
+            break;
+
+        case H19_VALV:
+            setH19Control( enableValve );
+            break;
+
+        default:
+            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_TD_SOFTWARE_FAULT, SW_FAULT_ID_VALVES_INVALID_VALVE_ENABLE_REQ, (U32)valve )
+            break;
+    }
+}
+
+/*********************************************************************//**
+ * @brief
+ * The setValveZeroEncoderPosition function zeros the valve's encoders position.
+ * @details \b Alarm: ALARM_ID_TD_SOFTWARE_FAULT if invalid valve given.
+ * @details \b Inputs: valveStatus[]
+ * @details \b Outputs: none
+ * @param valve ID of valve to get status for
+ * @return none
+ *************************************************************************/
+void setValveZeroEncoderPosition( VALVE_T valve )
+{
+    // First enable the valve and then set the position to 0 to clear the FPGA command registers
+    switch ( valve )
+    {
+        case H1_VALV:
+            setH1Position( 0 );
+            break;
+
+        case H19_VALV:
+            setH19Position( 0 );
+            break;
+
+        default:
+            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_TD_SOFTWARE_FAULT, SW_FAULT_ID_VALVES_INVALID_VALVE_ENCODER_REQ, (U32)valve )
+            break;
+    }
+}
+
+
 /*************************************************************************
  *                       TEST SUPPORT FUNCTIONS
  *************************************************************************/