Index: firmware/App/Drivers/RotaryValve.c
===================================================================
diff -u -r961784c895cb8f551a2623cd02dcbfe42d04b7c2 -r036a75d76ab01912646a480b935d97187a231a19
--- firmware/App/Drivers/RotaryValve.c	(.../RotaryValve.c)	(revision 961784c895cb8f551a2623cd02dcbfe42d04b7c2)
+++ firmware/App/Drivers/RotaryValve.c	(.../RotaryValve.c)	(revision 036a75d76ab01912646a480b935d97187a231a19)
@@ -160,11 +160,13 @@
             ctrl = getH1Control();
             if ( MOTOR_DIR_REVERSE == dir )
             {
-                setH1Control( ( ctrl | FPGA_PINCH_VALVES_REVERSE ) );
+//                setH1Control( ( ctrl | FPGA_PINCH_VALVES_NEW_POS_CMD | FPGA_PINCH_VALVES_REVERSE ) );
+                setH1Control( ( ctrl | FPGA_PINCH_VALVES_NEW_POS_CMD & ~FPGA_PINCH_VALVES_REVERSE ) );  // TODO - reverse direction polarity when corrected
             }
             else
             {
-                setH1Control( ( ctrl & ~FPGA_PINCH_VALVES_REVERSE ) );
+//                setH1Control( ( ctrl | FPGA_PINCH_VALVES_NEW_POS_CMD & ~FPGA_PINCH_VALVES_REVERSE ) );
+                setH1Control( ( ctrl | FPGA_PINCH_VALVES_NEW_POS_CMD | FPGA_PINCH_VALVES_REVERSE ) );
             }
             setH1Position( mag );
         }
@@ -173,11 +175,11 @@
             ctrl = getH19Control();
             if ( MOTOR_DIR_REVERSE == dir )
             {
-                setH19Control( ( ctrl | FPGA_PINCH_VALVES_REVERSE ) );
+                setH19Control( ( ctrl | FPGA_PINCH_VALVES_NEW_POS_CMD | FPGA_PINCH_VALVES_REVERSE ) );
             }
             else
             {
-                setH19Control( ( ctrl & ~FPGA_PINCH_VALVES_REVERSE ) );
+                setH19Control( ( ctrl | FPGA_PINCH_VALVES_NEW_POS_CMD & ~FPGA_PINCH_VALVES_REVERSE ) );
             }
             setH19Position( mag );
         }
@@ -234,11 +236,7 @@
 
     if ( valve < NUM_OF_VALVES )
     {
-        result = (S16)(currentValveEncPosition[ valve ].data);
-        if ( OVERRIDE_KEY == currentValveEncPosition[ valve ].override )
-        {
-            result = (S16)(currentValveEncPosition[ valve ].ovData);
-        }
+        result = (S16)getS32OverrideValue( &currentValveEncPosition[ valve ] );
     }
     else
     {
@@ -268,11 +266,7 @@
 
     if ( valve < NUM_OF_VALVES )
     {
-        result = (U08)( valveStatus[ valve ].data & MASK_OFF_U32_MSBS );
-        if ( OVERRIDE_KEY == valveStatus[ valve ].override )
-        {
-            result = (U08)( valveStatus[ valve ].ovData & MASK_OFF_U32_MSBS );
-        }
+        result = getU08OverrideValue( &valveStatus[ valve ] );
     }
     else
     {