Index: firmware/App/Drivers/PinchValve.c
===================================================================
diff -u -r8c14bdff486bb7299381f19672bb9761b91c332b -r5b6e0bbf5048ea88c978afed93b03b29d6ce98f1
--- firmware/App/Drivers/PinchValve.c	(.../PinchValve.c)	(revision 8c14bdff486bb7299381f19672bb9761b91c332b)
+++ firmware/App/Drivers/PinchValve.c	(.../PinchValve.c)	(revision 5b6e0bbf5048ea88c978afed93b03b29d6ce98f1)
@@ -31,6 +31,8 @@
 
 #define PINCH_VALVE_COMMAND_TIMEOUT_MS               1000                                 ///< Maximum FPGA command execution time.
 
+#define PINCH_VALVE_HOME_OFFSET                      10                                   ///< Offset (in encoder counts) from end of travel edge to set position B and C to.
+
 #define PINCH_VALVE_FPGA_CMD_START_BIT_MASK          0x01                                 ///< Bit 0 starts a command transaction. (TODO: To change the comments later)
 #define PINCH_VALVE_FPGA_CMD_WRITE_ONLY_BIT_MASK     0x02                                 ///< Bit 1 selects a write-only command.
 #define PINCH_VALVE_FPGA_CMD_TX_COUNT_SHIFT          2                                    ///< Bits 4-2 contain transmit word count.
@@ -1141,6 +1143,8 @@
 *************************************************************************/
 static PINCH_VALVE_CMD_STATE_T processPinchValveCommandOutput( VALVE_T valve )
 {
+    PINCH_VALVE_CMD_STATE_T result = ; // V - IDLE
+
     if ( TRUE == isValidPinchValve( valve ) )
     {
         switch ( activeCommand[ valve ].cmdHeader )
@@ -1151,6 +1155,7 @@
 
             case PINCH_VALVE_PMD_CMD_GET_EVENT_STATUS:
                 eventStatus[ valve ] = commandOutputWord1[ valve ];
+                // TODO - if not motion complete or motion error, stay in this state, otherwise idle
                 break;
 
             default:
@@ -1161,11 +1166,29 @@
         switch ( activeCommandIndex[ valve ] )
         {
             case PINCH_VALVE_HOME_CMD_GET_ACTUAL_POSITION_B:
-                currentValvePosition[ valve ] = getSigned32OutputValue( valve );
+                currentValvePosition[ valve ] = getSigned32OutputValue( valve )
+                if ( H1_VALV == valve )
+                {
+                    valvePositions[ valve ][ VALVE_POSITION_B_OPEN ] = currentValvePosition[ valve ] + PINCH_VALVE_HOME_OFFSET;
+                }
+                else
+                {
+                    valvePositions[ valve ][ VALVE_POSITION_B_OPEN ] = currentValvePosition[ valve ] - PINCH_VALVE_HOME_OFFSET;
+                }
                 break;
 
             case PINCH_VALVE_HOME_CMD_GET_ACTUAL_POSITION_C:
                 currentValvePosition[ valve ] = getSigned32OutputValue( valve );
+                if ( H1_VALV == valve )
+                {
+                    valvePositions[ valve ][ VALVE_POSITION_C_CLOSE ] = currentValvePosition[ valve ] - PINCH_VALVE_HOME_OFFSET;
+                    valvePositions[ valve ][ VALVE_POSITION_A_INSERT_EJECT ] = ;
+                }
+                else
+                {
+                    valvePositions[ valve ][ VALVE_POSITION_C_CLOSE ] = currentValvePosition[ valve ] + PINCH_VALVE_HOME_OFFSET;
+                    valvePositions[ valve ][ VALVE_POSITION_A_INSERT_EJECT ] = ;
+                }
                 break;
 
             default: