Index: firmware/App/Controllers/Valves.c
===================================================================
diff -u -re9f7c0ae1796e7014436bb79e6b429f185ae5f24 -r98e9ba4e9e7e2bf97ad5240c2a77efeefe9605e1
--- firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision e9f7c0ae1796e7014436bb79e6b429f185ae5f24)
+++ firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision 98e9ba4e9e7e2bf97ad5240c2a77efeefe9605e1)
@@ -94,6 +94,9 @@
 static VALVE_STATE_T handleValvesNotHomedState( VALVE_T valve );
 static VALVE_STATE_T handleValvesIdleState( VALVE_T valve );
 static VALVE_STATE_T handleValvesTransitionState( VALVE_T valve );
+static S32  getValveActualEncoderPosition( VALVE_T valve );
+static S32  getValveCommandedEncoderPosition( VALVE_T valve );
+static S32  getValvePositionError( VALVE_T valve );
 static BOOL isValveAtCommandedPosition( VALVE_T valve );
 static void publishValvesData( void );
 
@@ -524,6 +527,66 @@
 
 /*********************************************************************//**
  * @brief
+ * The getValveActualEncoderPosition function handles the current and target
+ * position
+ * @details \b Inputs: currentPosition, targetPosition, positionDelta
+ * @details \b Outputs: result
+ * @return none
+ *************************************************************************/
+static S32 getValveActualEncoderPosition( VALVE_T valve )
+{
+    S32 result = 0;
+
+    if ( valve < NUM_OF_VALVES )
+    {
+        result = getPinchValvePosition( valve );
+    }
+
+    return result;
+}
+
+/*********************************************************************//**
+ * @brief
+ * The getValveCommandedEncoderPosition function handles the current and target
+ * position
+ * @details \b Inputs: currentPosition, targetPosition, positionDelta
+ * @details \b Outputs: result
+ * @return none
+ *************************************************************************/
+static S32 getValveCommandedEncoderPosition( VALVE_T valve )
+{
+    S32 result = 0;
+
+    if ( valve < NUM_OF_VALVES )
+    {
+        result = getPinchValveStoredPosition( valve, currentValveStates[ valve ].commandedPosition );
+    }
+
+    return result;
+}
+
+/*********************************************************************//**
+ * @brief
+ * The getValvePositionError function handles the current and target
+ * position
+ * @details \b Inputs: currentPosition, targetPosition, positionDelta
+ * @details \b Outputs: result
+ * @return none
+ *************************************************************************/
+static S32 getValvePositionError( VALVE_T valve )
+{
+    S32 result = 0;
+
+    if ( valve < NUM_OF_VALVES )
+    {
+        result = abs( getValveActualEncoderPosition( valve ) - getValveCommandedEncoderPosition( valve ) );
+    }
+
+   return result;
+}
+
+/*********************************************************************//**
+ * @brief
  * The publishValvesData function constructs and sends the valves data
  * broadcast message.
  * @details \b Message \b Sent: MSG_ID_TD_VALVES_DATA