Index: firmware/App/Controllers/Valves.c
===================================================================
diff -u -r8de3c971a08a5e2d822a6a1d1d1c477b6d4cbd5b -r6b4296cf35c80f2a8858020517cbfc48181144c7
--- firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision 8de3c971a08a5e2d822a6a1d1d1c477b6d4cbd5b)
+++ firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision 6b4296cf35c80f2a8858020517cbfc48181144c7)
@@ -449,7 +449,7 @@
     }
     else
     {
-        // First enable the valve and then set the position to 0 to clear the FPGA command regitsters
+        // First enable the valve and then set the position to 0 to clear the FPGA command registers
         switch ( valve )
         {
             case H1_VALV:
@@ -521,9 +521,9 @@
         currentValveStates[ valve ].valveOpsStartTime = 0;
         currentValveStates[ valve ].hasValveBeenHomed = FALSE;
         currentValveStates[ valve ].currentPosition   = VALVE_POSITION_NOT_IN_POSITION;
+        nextState                                     = VALVE_STATE_HOMING_FIND_ENERGIZED_EDGE;
 
         setValveCmdChangePosition( valve, (U16)currentValveStates[ valve ].proposedEnergizedPos, MOTOR_DIR_FORWARD );
-        nextState = VALVE_STATE_HOMING_FIND_ENERGIZED_EDGE;
     }
 
     return nextState;
@@ -572,7 +572,7 @@
                 S16 posA = posC + ( curPos / 2 );
 
                 // If position A was calculated to not be a division of 8 it is rounded down to be a division of 8
-                posA = ( posA % ROTARY_VALVE_MICROSTEP_FRACTION ) < 4 ? ( posA >> 3 ) : posA;
+                posA = ( posA % ROTARY_VALVE_MICROSTEP_FRACTION ) < 4 ? ( posA >> 3 ) << 3 : posA;
 
                 currentValveStates[ valve ].positionsABC[ VALVE_POSITION_B_OPEN ]         = curPos;
                 currentValveStates[ valve ].positionsABC[ VALVE_POSITION_A_INSERT_EJECT ] = posA;
@@ -654,13 +654,13 @@
             S16 mag         = tgtPos - curPos;                                      // calculate magnitude of position change
             MOTOR_DIR_T dir = ( mag < 0 ? MOTOR_DIR_REVERSE : MOTOR_DIR_FORWARD );  // determine direction of position change
 
-            // set commanded position and transition start time stamp
+            // Set commanded position and transition start time stamp
             currentValveStates[ valve ].commandedPosition = currentValveStates[ valve ].pendingCommandedPosition;
             currentValveStates[ valve ].valveOpsStartTime = getMSTimerCount();
-            // command FPGA to move valve to commanded position
+            nextState                                     = VALVE_STATE_IN_TRANSITION;
+
+            // Command FPGA to move valve to commanded position
             setValveCmdChangePosition( valve, (U16)( abs(mag) ), dir );
-            // go on to transition state
-            nextState = VALVE_STATE_IN_TRANSITION;
         }
     }